TY - GEN
T1 - A determination method of position,attitude and velocity based on inertial/magnetic for human movement
AU - Wu, Shasha
AU - Sheng, Wei
AU - Miao, Cunxiao
PY - 2011
Y1 - 2011
N2 - Inertial/Magnetic tracking technology had been publicly investigated, but most of the methods were based on the assumption that acceleration of the body segment in the global system was quite small to be neglected, and they couldn't figure out the velocity and location accurately. However micro compass was easily disturbed by external magnetic environment which seriously effected calculation of heading. So the states of acceleration and disturbance of ferromagnetic were introduced based on the traditional error equation, and the attitude was solved by kalman filter error equations. The sphere surface dynamic model which got the joint as center and length of segment as radius was established through analyzing the movement of human. According to the attitude and dynamic model, the position and velocity in moving was calculated real time. Finally, the experiment shows that the method proposed in this paper is effective.
AB - Inertial/Magnetic tracking technology had been publicly investigated, but most of the methods were based on the assumption that acceleration of the body segment in the global system was quite small to be neglected, and they couldn't figure out the velocity and location accurately. However micro compass was easily disturbed by external magnetic environment which seriously effected calculation of heading. So the states of acceleration and disturbance of ferromagnetic were introduced based on the traditional error equation, and the attitude was solved by kalman filter error equations. The sphere surface dynamic model which got the joint as center and length of segment as radius was established through analyzing the movement of human. According to the attitude and dynamic model, the position and velocity in moving was calculated real time. Finally, the experiment shows that the method proposed in this paper is effective.
KW - Acceleration
KW - Inertial/magnetic tracking technology
KW - Magnetic interference
KW - Sphere surface dynamic model
UR - https://www.scopus.com/pages/publications/80054817775
U2 - 10.1109/MACE.2011.5988061
DO - 10.1109/MACE.2011.5988061
M3 - 会议稿件
AN - SCOPUS:80054817775
SN - 9781424494392
T3 - 2011 2nd International Conference on Mechanic Automation and Control Engineering, MACE 2011 - Proceedings
SP - 4703
EP - 4707
BT - 2011 2nd International Conference on Mechanic Automation and Control Engineering, MACE 2011 - Proceedings
T2 - 2011 2nd International Conference on Mechanic Automation and Control Engineering, MACE 2011
Y2 - 15 July 2011 through 17 July 2011
ER -