Sourceless tracking of human posture using small inertial/magnetic sensors
Sourceless tracking of human posture using small inertial/magnetic sensors
复制标题
使用小型惯性/磁传感器无源跟踪人体姿势
DOI：
10.1109/cira.2003.1222286
复制
发表时间：
2003
期刊：
影响因子：
--
通讯作者：
R. McGhee
中科院分区：
文献类型：
--
作者：
E. Bachmann;X. Yun;R. McGhee
人体姿势可以使用小型廉价的惯性/磁传感器模块来实时跟踪，以测量各个肢体段的取向。为了执行此任务，惯性/磁传感器通常包含：三个正交安装的角速率传感器、三个正交安装的加速度计和三个正交安装的磁力计。这些传感器必须足够小和轻，以牢固地连接到主要的肢体节段，并避免用户的困扰。传感器数据必须通过有效的滤波算法进行处理，该算法能够在所有姿态中产生准确的方位估计而没有奇异性，并且不需要静止周期来校正漂移。本文讨论了无源人体跟踪系统的设计，重点是传感器和高效滤波器的设计。还描述了用于减轻由于局部磁场矢量的方向的可变性而引起的小的瞬态定向误差的各种方法。
Human body posture can be tracked in real-time using small inexpensive inertial/magnetic sensor modules to measure the orientation of individual limb segments. To perform this task inertial/magnetic sensors generally contain: three orthogonally mounted angular rate sensors, three orthogonally mounted accelerometers, and three orthogonally mounted magnetometers. These sensors must be small and light enough to be securely attached to major limb segments and avoid user encumbrance. Sensor data must be processed by an efficient filtering algorithm that is able to produce accurate orientation estimates without singularities in all attitudes and does not require still periods to correct for drift. This paper discusses the design of a sourceless body tracking system with an emphasis on sensor and efficient filter design. Various methods for mitigating small transient orientation errors due to variability in the direction of the local magnetic field vector are also described.