1,721,057 research outputs found
Quaternion based attitude estimation algorithm applied to signals from body-mounted gyroscopes
No full textReal-time Kalman filter applied to biomechanical data for state estimation and numerical differentiation
No full textQuaternion-based extended Kalman filter for determining orientation by inertial and magnetic sensing
No full textIn this paper, a quaternion based extended Kalman filter (EKF) is developed for determining the orientation of a rigid body from the outputs of a sensor which is configured as the integration of a tri-axis gyro and an aiding system mechanized using a tri-axis accelerometer and a tri-axis magnetometer. The suggested applications are for studies in the field of human movement. In the proposed EKF, the quaternion associated with the body rotation is included in the state vector together with the bias of the aiding system sensors. Moreover, in addition to the in-line procedure of sensor bias compensation, the measurement noise covariance matrix is adapted, to guard against the effects which body motion and temporary magnetic disturbance may have on the reliability of
measurements of gravity and earth’s magnetic field, respectively. By computer simulations and experimental validation with human hand orientation motion signals, improvements in the accuracy of orientation estimates are demonstrated for the proposed EKF, as compared with filter implementations where either the in-line calibration procedure, the adaptive mechanism for weighting the measurements of the aiding system sensors, or both are not implemented
A hybrid genetic algorithm for estimating the optimal time-scale of linear systems approximations using Laguerre models
No full textA statistical mechanical analysis of postural sway using non-Gaussian FARIMA stochastic models
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A wavelet-based bootstrap method applied to inertial sensor stochastic error modelling using the Allan variance
No full textQuaternion-based strap-down integration method for applications of inertial sensing to gait analysis
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A digital-signal-processing technique for ultrasonic signal modelling and classification
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