NDLI: Micro-IMU-based motion tracking system for virtual training

Content Provider	IEEE Xplore Digital Library
Author	Yang Zhang Yunfeng Fei Lin Xu Guangyi Sun
Copyright Year	2015
Description	Author affiliation: Tianjin Key Lab. of Intell. Robot., Nankai Univ., Tianjin, China (Yang Zhang; Lin Xu; Guangyi Sun) \|\| Eng. Design & Res. Inst. of the Second Artillery Corps., Beijing, China (Yunfeng Fei)
Abstract	This paper presents the development of a low cost wireless real-time inertial body tracking system for virtual training. The system is designed to provide highly accurate human body motion capture and interactive three-dimensional (3-D) avatar steering, by combining low cost MEMS inertial measurement units (IMUs), wireless body sensor network (BSN), and Unity 3D virtual reality game engine. First, several wearable MEMS IMU sensors are placed on user's body and limbs according to human skeletal action, and each sensor performs a 9 degrees of freedom (DOF) tracking at a high-speed update rate. Second, a Zigbee-based BSN is designed to support up to 20 MEMS IMU sensor nodes data transmission at 50 Hz sampling frequency. All collected sensors' data are loaded to a Matlab-based PC program by means of serial port. In order to accurately estimate the local orientation of each IMU sensor, an optimized gradient descent algorithm is implemented. The algorithm uses a quaternion representation, which allows accelerometer and magnetometer data to be fused to compute the gyroscope measurement error as a quaternion derivative. Finally, the estimated orientation data by fusion algorithm are imported to a virtual environment, consisting of the 3-D virtual skeletal representation and the virtual scene for specific training. Experimental results indicate that the system achieves <; $1^{o}$ static RMS error and $<;2^{o}$ dynamic RMS error. The systems further expand the usability of low cost body tracking solution to virtual training in virtual environments.
Starting Page	7753
Ending Page	7758
File Size	649214
Page Count	6
File Format	PDF
ISBN	9789881563897
ISSN	19341768
DOI	10.1109/ChiCC.2015.7260871
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-07-28
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Technical Committee on Control Theory, Chinese Association of Automation
Subject Keyword	Training Wireless communication Micromechanical devices virtual training Wireless sensor networks Tracking gradient descent algorithm wireless sensor network Sensors Gyroscopes motion capture micro inertial measurement unit (IMU)
Content Type	Text
Resource Type	Article

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