We found a match
Your institution may have access to this item. Find your institution then sign in to continue.
- Title
Estimating Three-Dimensional Body Orientation Based on an Improved Complementary Filter for Human Motion Tracking.
- Authors
Yi, Chunzhi; Ma, Jiantao; Guo, Hao; Han, Jiahong; Gao, Hefu; Jiang, Feng; Yang, Chifu
- Abstract
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.
- Subjects
HUMAN-computer interaction; ROBOTICS; WEARABLE technology; ALGORITHMS; KALMAN filtering
- Publication
Sensors (14248220), 2018, Vol 18, Issue 11, p3765
- ISSN
1424-8220
- Publication type
Article
- DOI
10.3390/s18113765