Details
| Original language | English |
|---|---|
| Article number | 2543 |
| Journal | Sensors |
| Volume | 21 |
| Issue number | 7 |
| Publication status | Published - 1 Apr 2021 |
| Externally published | Yes |
Abstract
The orientation of a magneto and inertial measurement unit (MIMU) is estimated by means of sensor fusion algorithms (SFAs) thus enabling human motion tracking. However, despite several SFAs implementations proposed over the last decades, there is still a lack of consensus about the best performing SFAs and their accuracy. As suggested by recent literature, the filter parameters play a central role in determining the orientation errors. The aim of this work is to analyze the accuracy of ten SFAs while running under the best possible conditions (i.e., their parameter values are set using the orientation reference) in nine experimental scenarios including three rotation rates and three commercial products. The main finding is that parameter values must be specific for each SFA according to the experimental scenario to avoid errors comparable to those obtained when the de-fault parameter values are used. Overall, when optimally tuned, no statistically significant differ-ences are observed among the different SFAs in all tested experimental scenarios and the absolute errors are included between 3.8 deg and 7.1 deg. Increasing the rotation rate generally leads to a significant performance worsening. Errors are also influenced by the MIMU commercial model. SFA MATLAB implementations have been made available online.
Keywords
- Complementary filters, Filter comparison, Filter parameters, Human motion, Kalman filters, MIMU, Optimal parameters, Orientation estimation, Sensor fusion, Wearable sensors
ASJC Scopus subject areas
- Chemistry(all)
- Analytical Chemistry
- Computer Science(all)
- Information Systems
- Physics and Astronomy(all)
- Atomic and Molecular Physics, and Optics
- Biochemistry, Genetics and Molecular Biology(all)
- Biochemistry
- Physics and Astronomy(all)
- Instrumentation
- Engineering(all)
- Electrical and Electronic Engineering
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In: Sensors, Vol. 21, No. 7, 2543, 01.04.2021.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Analysis of the accuracy of ten algorithms for orientation estimation using inertial and magnetic sensing under optimal conditions
T2 - One size does not fit all
AU - Caruso, Marco
AU - Sabatini, Angelo Maria
AU - Laidig, Daniel
AU - Seel, Thomas
AU - Knaflitz, Marco
AU - Croce, Ugo Della
AU - Cereatti, Andrea
N1 - Funding Information: This research was partially funded by DoMoMEA grant, Sardegna Ricerche POR FESR 2014/2020 and by MOBILISE-D grant, Innovative Medicines Initiative 2 Joint Undertaking under grant agreement No 820820. This Joint Undertaking receives support from the European Union’s Horizon 2020 research and innovation programme and EFPIA. www.imi.europa.eu.
PY - 2021/4/1
Y1 - 2021/4/1
N2 - The orientation of a magneto and inertial measurement unit (MIMU) is estimated by means of sensor fusion algorithms (SFAs) thus enabling human motion tracking. However, despite several SFAs implementations proposed over the last decades, there is still a lack of consensus about the best performing SFAs and their accuracy. As suggested by recent literature, the filter parameters play a central role in determining the orientation errors. The aim of this work is to analyze the accuracy of ten SFAs while running under the best possible conditions (i.e., their parameter values are set using the orientation reference) in nine experimental scenarios including three rotation rates and three commercial products. The main finding is that parameter values must be specific for each SFA according to the experimental scenario to avoid errors comparable to those obtained when the de-fault parameter values are used. Overall, when optimally tuned, no statistically significant differ-ences are observed among the different SFAs in all tested experimental scenarios and the absolute errors are included between 3.8 deg and 7.1 deg. Increasing the rotation rate generally leads to a significant performance worsening. Errors are also influenced by the MIMU commercial model. SFA MATLAB implementations have been made available online.
AB - The orientation of a magneto and inertial measurement unit (MIMU) is estimated by means of sensor fusion algorithms (SFAs) thus enabling human motion tracking. However, despite several SFAs implementations proposed over the last decades, there is still a lack of consensus about the best performing SFAs and their accuracy. As suggested by recent literature, the filter parameters play a central role in determining the orientation errors. The aim of this work is to analyze the accuracy of ten SFAs while running under the best possible conditions (i.e., their parameter values are set using the orientation reference) in nine experimental scenarios including three rotation rates and three commercial products. The main finding is that parameter values must be specific for each SFA according to the experimental scenario to avoid errors comparable to those obtained when the de-fault parameter values are used. Overall, when optimally tuned, no statistically significant differ-ences are observed among the different SFAs in all tested experimental scenarios and the absolute errors are included between 3.8 deg and 7.1 deg. Increasing the rotation rate generally leads to a significant performance worsening. Errors are also influenced by the MIMU commercial model. SFA MATLAB implementations have been made available online.
KW - Complementary filters
KW - Filter comparison
KW - Filter parameters
KW - Human motion
KW - Kalman filters
KW - MIMU
KW - Optimal parameters
KW - Orientation estimation
KW - Sensor fusion
KW - Wearable sensors
UR - http://www.scopus.com/inward/record.url?scp=85103560967&partnerID=8YFLogxK
U2 - 10.3390/s21072543
DO - 10.3390/s21072543
M3 - Article
C2 - 33916432
AN - SCOPUS:85103560967
VL - 21
JO - Sensors
JF - Sensors
SN - 1424-8220
IS - 7
M1 - 2543
ER -