Estimating Three-Dimensional Body Orientation Based on an Improved Complementary Filter for Human Motion Tracking
Rigid body orientation determined by IMU (Inertial Measurement Unit) is widely applied in robotics, navigation, rehabilitation, and human-computer interaction. In this paper, aiming at dynamically fusing quaternions computed from angular rate integration and FQA algorithm, a quaternion-based complem...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2018-11-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/18/11/3765 |
| _version_ | 1798042206029742080 |
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| author | Chunzhi Yi Jiantao Ma Hao Guo Jiahong Han Hefu Gao Feng Jiang Chifu Yang |
| author_facet | Chunzhi Yi Jiantao Ma Hao Guo Jiahong Han Hefu Gao Feng Jiang Chifu Yang |
| author_sort | Chunzhi Yi |
| collection | DOAJ |
| description | Rigid body orientation determined by IMU (Inertial Measurement Unit) is widely applied in robotics, navigation, rehabilitation, and human-computer interaction. In this paper, aiming at dynamically fusing quaternions computed from angular rate integration and FQA algorithm, a quaternion-based complementary filter algorithm is proposed to support a computationally efficient, wearable motion-tracking system. Firstly, a gradient descent method is used to determine a function from several sample points. Secondly, this function is used to dynamically estimate the fusion coefficient based on the deviation between measured magnetic field, gravity vectors and their references in Earth-fixed frame. Thirdly, a test machine is designed to evaluate the performance of designed filter. Experimental results validate the filter design and show its potential of real-time human motion tracking. |
| first_indexed | 2024-04-11T22:32:14Z |
| format | Article |
| id | doaj.art-9724d47cfc9046398caeff24142596c0 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-11T22:32:14Z |
| publishDate | 2018-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-9724d47cfc9046398caeff24142596c02022-12-22T03:59:20ZengMDPI AGSensors1424-82202018-11-011811376510.3390/s18113765s18113765Estimating Three-Dimensional Body Orientation Based on an Improved Complementary Filter for Human Motion TrackingChunzhi Yi0Jiantao Ma1Hao Guo2Jiahong Han3Hefu Gao4Feng Jiang5Chifu Yang6School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, ChinaSchool of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, ChinaSchool of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, ChinaSchool of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, ChinaSchool of Electrical Engineering, University of New South Wales, Sydney 2033, AustraliaSchool of Computer Science and Technology, Harbin Institute of Technology, Harbin 150001, ChinaSchool of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, ChinaRigid body orientation determined by IMU (Inertial Measurement Unit) is widely applied in robotics, navigation, rehabilitation, and human-computer interaction. In this paper, aiming at dynamically fusing quaternions computed from angular rate integration and FQA algorithm, a quaternion-based complementary filter algorithm is proposed to support a computationally efficient, wearable motion-tracking system. Firstly, a gradient descent method is used to determine a function from several sample points. Secondly, this function is used to dynamically estimate the fusion coefficient based on the deviation between measured magnetic field, gravity vectors and their references in Earth-fixed frame. Thirdly, a test machine is designed to evaluate the performance of designed filter. Experimental results validate the filter design and show its potential of real-time human motion tracking.https://www.mdpi.com/1424-8220/18/11/3765inertial and magnetic sensorsorientation estimationhuman motion trackingcomplementary filterKalman filter |
| spellingShingle | Chunzhi Yi Jiantao Ma Hao Guo Jiahong Han Hefu Gao Feng Jiang Chifu Yang Estimating Three-Dimensional Body Orientation Based on an Improved Complementary Filter for Human Motion Tracking Sensors inertial and magnetic sensors orientation estimation human motion tracking complementary filter Kalman filter |
| title | Estimating Three-Dimensional Body Orientation Based on an Improved Complementary Filter for Human Motion Tracking |
| title_full | Estimating Three-Dimensional Body Orientation Based on an Improved Complementary Filter for Human Motion Tracking |
| title_fullStr | Estimating Three-Dimensional Body Orientation Based on an Improved Complementary Filter for Human Motion Tracking |
| title_full_unstemmed | Estimating Three-Dimensional Body Orientation Based on an Improved Complementary Filter for Human Motion Tracking |
| title_short | Estimating Three-Dimensional Body Orientation Based on an Improved Complementary Filter for Human Motion Tracking |
| title_sort | estimating three dimensional body orientation based on an improved complementary filter for human motion tracking |
| topic | inertial and magnetic sensors orientation estimation human motion tracking complementary filter Kalman filter |
| url | https://www.mdpi.com/1424-8220/18/11/3765 |
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