NDLI: Adaptive Kalman filter for orientation estimation in micro-sensor motion capture

Content Provider	IEEE Xplore Digital Library
Author	Shuyan Sun Xiaoli Meng Lianying Ji Zhipei Huang Jiankang Wu
Copyright Year	2011
Description	Author affiliation: Graduate University of Chinese Academy of Sciences, Beijing, China (Shuyan Sun; Xiaoli Meng; Lianying Ji; Zhipei Huang; Jiankang Wu)
Abstract	One of the biggest challenges in micro-sensor motion capture is the drift problem caused by integration of angular rates to obtain orientation estimation. To reduce the drift, existing algorithms make use of gravity and earth magnetic field measured by accelerometers and magnetometers. Unfortunately, the gravity measurement can be strongly interfered by human motion acceleration. This paper presents a quaternion-based adaptive Kalman filter for drift-free orientation estimation. In this filter, the motion acceleration associated with the quaternion is included in the state vector, to compensate the effects which human body motion may have on the reliability of gravity measurement. Moreover, the process noise covariance is adapted based on the variation of sensor signals, to optimize the performance under human motion existence. The final experiments show that the proposed algorithm has least error compared with the existing methods, and the use of motion acceleration compensation together with the adaptive mechanism can improve the accuracy of human motion capture.
Starting Page	1
Ending Page	8
File Size	332540
Page Count	8
File Format	PDF
ISBN	9781457702679
e-ISBN	9780982443828
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-07-05
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Intl Society of Info Fusion
Subject Keyword	Acceleration Magnetometers Noise Mathematical model Quaternions Humans Motion segmentation drift Sensor fusion Kalman filter adaptive mechanism human motion capture
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Adaptive sensor data fusion in motion capture

Adaptive Sensor Data Fusion in Motion Capture (2010)

Displacement estimation for different gait patterns in micro-sensor motion capture

Displacement estimation in micro-sensor motion capture

Improved orientation estimation in complex environments using low-cost inertial sensors

Adaptive sensor fusion technology for mobile and wearable applications

Efficient orientation estimation algorithm for low cost inertial and magnetic sensor systems

A double stage Kalman filter for sensor fusion and orientation tracking in 9D IMU

A sensor fusion algorithm for an integrated angular position estimation with inertial measurement units

Adaptive Kalman filter for orientation estimation in micro-sensor motion capture

Similar Documents

Adaptive sensor data fusion in motion capture

Adaptive Sensor Data Fusion in Motion Capture (2010)

Displacement estimation for different gait patterns in micro-sensor motion capture

Displacement estimation in micro-sensor motion capture

Improved orientation estimation in complex environments using low-cost inertial sensors

Adaptive sensor fusion technology for mobile and wearable applications

Efficient orientation estimation algorithm for low cost inertial and magnetic sensor systems

A double stage Kalman filter for sensor fusion and orientation tracking in 9D IMU

A sensor fusion algorithm for an integrated angular position estimation with inertial measurement units

Adaptive Kalman filter for orientation estimation in micro-sensor motion capture