Estimating Orientation Using Magnetic and Inertial Sensors and Different Sensor Fusion Approaches: Accuracy Assessment in Manual and Locomotion Tasks

Sensors

Elena Bergamini¹  Gabriele Ligorio²  Aurora Summa¹  Giuseppe Vannozzi¹  Aurelio Cappozzo¹ 

[1] Interuniversity Centre of Bioengineering of the Human Neuromusculoskeletal System, Department of Movement, Human and Health Sciences, University of Rome “Foro Italico”, P.zza Lauro de Bosis 15, 00135 Roma, Italy; E-Mails:;The BioRobotics Institute, Scuola Superiore Sant'Anna, Piazza Martiri della Libertà 33, 56124 Pisa, Italy; E-Mails:

关键词: 3-D orientation;    accuracy;    wearable sensors;    IMU;    MIMU;    Kalman filtering;    gait;    upper body;    biomechanics;    human;   

DOI  :  10.3390/s141018625

来源: mdpi

【 摘 要 】

Magnetic and inertial measurement units are an emerging technology to obtain 3D orientation of body segments in human movement analysis. In this respect, sensor fusion is used to limit the drift errors resulting from the gyroscope data integration by exploiting accelerometer and magnetic aiding sensors. The present study aims at investigating the effectiveness of sensor fusion methods under different experimental conditions. Manual and locomotion tasks, differing in time duration, measurement volume, presence/absence of static phases, and out-of-plane movements, were performed by six subjects, and recorded by one unit located on the forearm or the lower trunk, respectively. Two sensor fusion methods, representative of the stochastic (Extended Kalman Filter) and complementary (Non-linear observer) filtering, were selected, and their accuracy was assessed in terms of attitude (pitch and roll angles) and heading (yaw angle) errors using stereophotogrammetric data as a reference. The sensor fusion approaches provided significantly more accurate results than gyroscope data integration. Accuracy improved mostly for heading and when the movement exhibited stationary phases, evenly distributed 3D rotations, it occurred in a small volume, and its duration was greater than approximately 20 s. These results were independent from the specific sensor fusion method used. Practice guidelines for improving the outcome accuracy are provided.

【 授权许可】

CC BY   
© 2014 by the authors; licensee MDPI, Basel, Switzerland.