Details
| Original language | English |
|---|---|
| Pages (from-to) | 8798-8803 |
| Number of pages | 6 |
| Journal | IFAC-PapersOnLine |
| Volume | 50 |
| Issue number | 1 |
| Publication status | Published - Jul 2017 |
Abstract
Inertial measurement units (IMUs) are a promising tool for realtime analysis of human motion in many application domains. We consider the standard sensor fusion problem in IMU orientation estimation. We highlight the malicious effects that inhomogeneous magnetic fields, which are often found in indoor environments, can have on the inclination portions (roll and pitch) of the orientation estimate. We then propose a novel method that uses an analytical solution of the sensor fusion problem and purely horizontal magnetometer-based corrections. The method assures that magnetic field measurements affect only the heading (yaw) component of the orientation estimate. Furthermore, we parametrize the algorithm such that the user can choose the time constant and aggressiveness with which the algorithm balances between gyroscope drift compensation and rejection of disturbances caused by inhomogeneous magnetic fields or by velocity changes.
Keywords
- alternating magnetic fields, biomedical engineering, human motion analysis, inertial measurement units, magnetic disturbance, motion estimation, orientation estimation, quaternion, sensor fusion
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
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In: IFAC-PapersOnLine, Vol. 50, No. 1, 07.2017, p. 8798-8803.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Eliminating the effect of magnetic disturbances on the inclination estimates of inertial sensors
AU - Seel, Thomas
AU - Ruppin, Stefan
PY - 2017/7
Y1 - 2017/7
N2 - Inertial measurement units (IMUs) are a promising tool for realtime analysis of human motion in many application domains. We consider the standard sensor fusion problem in IMU orientation estimation. We highlight the malicious effects that inhomogeneous magnetic fields, which are often found in indoor environments, can have on the inclination portions (roll and pitch) of the orientation estimate. We then propose a novel method that uses an analytical solution of the sensor fusion problem and purely horizontal magnetometer-based corrections. The method assures that magnetic field measurements affect only the heading (yaw) component of the orientation estimate. Furthermore, we parametrize the algorithm such that the user can choose the time constant and aggressiveness with which the algorithm balances between gyroscope drift compensation and rejection of disturbances caused by inhomogeneous magnetic fields or by velocity changes.
AB - Inertial measurement units (IMUs) are a promising tool for realtime analysis of human motion in many application domains. We consider the standard sensor fusion problem in IMU orientation estimation. We highlight the malicious effects that inhomogeneous magnetic fields, which are often found in indoor environments, can have on the inclination portions (roll and pitch) of the orientation estimate. We then propose a novel method that uses an analytical solution of the sensor fusion problem and purely horizontal magnetometer-based corrections. The method assures that magnetic field measurements affect only the heading (yaw) component of the orientation estimate. Furthermore, we parametrize the algorithm such that the user can choose the time constant and aggressiveness with which the algorithm balances between gyroscope drift compensation and rejection of disturbances caused by inhomogeneous magnetic fields or by velocity changes.
KW - alternating magnetic fields
KW - biomedical engineering
KW - human motion analysis
KW - inertial measurement units
KW - magnetic disturbance
KW - motion estimation
KW - orientation estimation
KW - quaternion
KW - sensor fusion
UR - http://www.scopus.com/inward/record.url?scp=85031788514&partnerID=8YFLogxK
U2 - 10.1016/j.ifacol.2017.08.1534
DO - 10.1016/j.ifacol.2017.08.1534
M3 - Article
VL - 50
SP - 8798
EP - 8803
JO - IFAC-PapersOnLine
JF - IFAC-PapersOnLine
SN - 2405-8963
IS - 1
ER -