Details
| Original language | English |
|---|---|
| Pages (from-to) | 16016-16022 |
| Number of pages | 7 |
| Journal | IFAC-PapersOnLine |
| Volume | 53 |
| Issue number | 2 |
| Publication status | Published - 2020 |
| Externally published | Yes |
Abstract
In motion tracking of connected multi-body systems, Inertial Measurement Units (IMUs) are used in a wide variety of applications, since they provide a low-cost easy-to-use method for orientation estimation. However, in indoor environments or near ferromagnetic material, the magnetic field is inhomogeneous, which limits the accuracy of tracking algorithms using magnetometers. Methods that use only accelerometers and gyroscopes on the other hand yield no information on the absolute heading of the tracked object. For objects connected by rotational joints with range of motion constraints, a method is proposed that provides a magnetometer-free, long-term stable relative orientation estimate based on a non-linear, window-based cost function. The method can be used for real-time estimation as well as post-processing. It is validated experimentally with a mechanical joint and compared to other methods that are commonly used in motion tracking. It is shown that for the used test object, the proposed method yields the best results with a total angle error of less than 4° for all experiments.
Keywords
- exploitation of kinematic constraints, inertial measurement units, inertial sensors, information, magnetometer-free inertial motion tracking, motion tracking, moving horizon estimation, sensor fusion, state estimation
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
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In: IFAC-PapersOnLine, Vol. 53, No. 2, 2020, p. 16016-16022.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Magnetometer-free inertial motion tracking of arbitrary joints with range of motion constraints
AU - Lehmann, Dustin
AU - Laidig, Daniel
AU - Deimel, Raphael
AU - Seel, Thomas
N1 - Publisher Copyright: © 2020 Elsevier B.V.. All rights reserved.
PY - 2020
Y1 - 2020
N2 - In motion tracking of connected multi-body systems, Inertial Measurement Units (IMUs) are used in a wide variety of applications, since they provide a low-cost easy-to-use method for orientation estimation. However, in indoor environments or near ferromagnetic material, the magnetic field is inhomogeneous, which limits the accuracy of tracking algorithms using magnetometers. Methods that use only accelerometers and gyroscopes on the other hand yield no information on the absolute heading of the tracked object. For objects connected by rotational joints with range of motion constraints, a method is proposed that provides a magnetometer-free, long-term stable relative orientation estimate based on a non-linear, window-based cost function. The method can be used for real-time estimation as well as post-processing. It is validated experimentally with a mechanical joint and compared to other methods that are commonly used in motion tracking. It is shown that for the used test object, the proposed method yields the best results with a total angle error of less than 4° for all experiments.
AB - In motion tracking of connected multi-body systems, Inertial Measurement Units (IMUs) are used in a wide variety of applications, since they provide a low-cost easy-to-use method for orientation estimation. However, in indoor environments or near ferromagnetic material, the magnetic field is inhomogeneous, which limits the accuracy of tracking algorithms using magnetometers. Methods that use only accelerometers and gyroscopes on the other hand yield no information on the absolute heading of the tracked object. For objects connected by rotational joints with range of motion constraints, a method is proposed that provides a magnetometer-free, long-term stable relative orientation estimate based on a non-linear, window-based cost function. The method can be used for real-time estimation as well as post-processing. It is validated experimentally with a mechanical joint and compared to other methods that are commonly used in motion tracking. It is shown that for the used test object, the proposed method yields the best results with a total angle error of less than 4° for all experiments.
KW - exploitation of kinematic constraints
KW - inertial measurement units
KW - inertial sensors
KW - information
KW - magnetometer-free inertial motion tracking
KW - motion tracking
KW - moving horizon estimation
KW - sensor fusion
KW - state estimation
UR - http://www.scopus.com/inward/record.url?scp=85119963401&partnerID=8YFLogxK
U2 - 10.1016/j.ifacol.2020.12.401
DO - 10.1016/j.ifacol.2020.12.401
M3 - Article
VL - 53
SP - 16016
EP - 16022
JO - IFAC-PapersOnLine
JF - IFAC-PapersOnLine
SN - 2405-8963
IS - 2
ER -