On the Functional and Extra-Functional Properties of IMU Fusion Algorithms for Body-Worn Smart Sensors
In this work, four sensor fusion algorithms for inertial measurement unit data to determine the orientation of a device are assessed regarding their usability in a hardware restricted environment such as body-worn sensor nodes. The assessment is done for both the functional and the extra-functional...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-04-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/21/8/2747 |
| _version_ | 1797537790841323520 |
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| author | Nils Büscher Daniel Gis Volker Kühn Christian Haubelt |
| author_facet | Nils Büscher Daniel Gis Volker Kühn Christian Haubelt |
| author_sort | Nils Büscher |
| collection | DOAJ |
| description | In this work, four sensor fusion algorithms for inertial measurement unit data to determine the orientation of a device are assessed regarding their usability in a hardware restricted environment such as body-worn sensor nodes. The assessment is done for both the functional and the extra-functional properties in the context of human operated devices. The four algorithms are implemented in three data formats: 32-bit floating-point, 32-bit fixed-point and 16-bit fixed-point and compared regarding code size, computational effort, and fusion quality. Code size and computational effort are evaluated on an ARM Cortex M0+. For the assessment of the functional properties, the sensor fusion output is compared to a camera generated reference and analyzed in an extensive statistical analysis to determine how data format, algorithm, and human interaction influence the quality of the sensor fusion. Our experiments show that using fixed-point arithmetic can significantly decrease the computational complexity while still maintaining a high fusion quality and all four algorithms are applicable for applications with human interaction. |
| first_indexed | 2024-03-10T12:21:15Z |
| format | Article |
| id | doaj.art-705eec0038de4ced8bbc6737249684b2 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T12:21:15Z |
| publishDate | 2021-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-705eec0038de4ced8bbc6737249684b22023-11-21T15:26:50ZengMDPI AGSensors1424-82202021-04-01218274710.3390/s21082747On the Functional and Extra-Functional Properties of IMU Fusion Algorithms for Body-Worn Smart SensorsNils Büscher0Daniel Gis1Volker Kühn2Christian Haubelt3Institute of Applied Microelectronics and Computer Engineering, Faculty of Computer Science and Electrical Engineering, University of Rostock, 18051 Rostock, GermanyInstitute of Applied Microelectronics and Computer Engineering, Faculty of Computer Science and Electrical Engineering, University of Rostock, 18051 Rostock, GermanyInstitute of Communications Engineering, Faculty of Computer Science and Electrical Engineering, University of Rostock, 18051 Rostock, GermanyInstitute of Applied Microelectronics and Computer Engineering, Faculty of Computer Science and Electrical Engineering, University of Rostock, 18051 Rostock, GermanyIn this work, four sensor fusion algorithms for inertial measurement unit data to determine the orientation of a device are assessed regarding their usability in a hardware restricted environment such as body-worn sensor nodes. The assessment is done for both the functional and the extra-functional properties in the context of human operated devices. The four algorithms are implemented in three data formats: 32-bit floating-point, 32-bit fixed-point and 16-bit fixed-point and compared regarding code size, computational effort, and fusion quality. Code size and computational effort are evaluated on an ARM Cortex M0+. For the assessment of the functional properties, the sensor fusion output is compared to a camera generated reference and analyzed in an extensive statistical analysis to determine how data format, algorithm, and human interaction influence the quality of the sensor fusion. Our experiments show that using fixed-point arithmetic can significantly decrease the computational complexity while still maintaining a high fusion quality and all four algorithms are applicable for applications with human interaction.https://www.mdpi.com/1424-8220/21/8/2747sensor fusionfixed-point arithmetichardware restrictionsAHRS algorithmshuman interaction |
| spellingShingle | Nils Büscher Daniel Gis Volker Kühn Christian Haubelt On the Functional and Extra-Functional Properties of IMU Fusion Algorithms for Body-Worn Smart Sensors Sensors sensor fusion fixed-point arithmetic hardware restrictions AHRS algorithms human interaction |
| title | On the Functional and Extra-Functional Properties of IMU Fusion Algorithms for Body-Worn Smart Sensors |
| title_full | On the Functional and Extra-Functional Properties of IMU Fusion Algorithms for Body-Worn Smart Sensors |
| title_fullStr | On the Functional and Extra-Functional Properties of IMU Fusion Algorithms for Body-Worn Smart Sensors |
| title_full_unstemmed | On the Functional and Extra-Functional Properties of IMU Fusion Algorithms for Body-Worn Smart Sensors |
| title_short | On the Functional and Extra-Functional Properties of IMU Fusion Algorithms for Body-Worn Smart Sensors |
| title_sort | on the functional and extra functional properties of imu fusion algorithms for body worn smart sensors |
| topic | sensor fusion fixed-point arithmetic hardware restrictions AHRS algorithms human interaction |
| url | https://www.mdpi.com/1424-8220/21/8/2747 |
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