Compensation of magnetic disturbances improves inertial and magnetic sensing of human body segment orientation
Compensation of magnetic disturbances improves inertial and magnetic sensing of human body segment orientation
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DOI：
10.1109/tnsre.2005.847353
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发表时间：
2005-09-01
影响因子：
4.9
通讯作者：
Veltink, PH
中科院分区：
文献类型：
--
作者：
Roetenberg, D;Luinge, HJ;Veltink, PH
本文介绍了一种互补卡尔曼滤波器的设计，估计方向的人体部分融合陀螺仪，加速度计和磁力计信号从微型传感器。传感器模块附近的铁磁材料或其他磁场会干扰局部地球磁场，从而干扰方向估计，这会阻碍许多（移动）应用。在滤波器中，陀螺仪的偏置误差，定向误差，和磁干扰误差估计。在准静态和动态条件下对滤波器进行了测试，铁磁材料靠近传感器模块。准静态实验意味着静态位置和围绕三个轴的旋转。在动态实验中，三维旋转附近的金属工具箱进行。将由滤波器估计的取向与用光学参考系统Vicon获得的取向进行比较。结果显示准确和无漂移的方向估计。与没有补偿或仅陀螺仪相比，补偿导致具有磁干扰补偿的取向估计之间的显著差异（p < 0.01）。在磁干扰实验中，平均静态误差为1.4度（标准差0.4）。动态误差为2.6度均方根。
This paper describes a complementary Kalman filter design to estimate orientation of human body segments by fusing gyroscope, accelerometer, and magnetometer signals from miniature sensors. Ferromagnetic materials or other magnetic fields near the sensor module disturb the local earth magnetic field and, therefore, the orientation estimation, which impedes many (ambulatory) applications. In the filter, the gyroscope bias error, orientation error, and magnetic disturbance error are estimated. The filter was tested under quasi-static and dynamic conditions with ferromagnetic materials close to the sensor module. The quasi-static experiments implied static positions and rotations around the three axes. In the dynamic experiments, three-dimensional rotations were performed near a metal tool case. The orientation estimated by the filter was compared with the orientation obtained with an optical reference system Vicon. Results show accurate and drift-free orientation estimates. The compensation results in a significant difference (p < 0.01) between the orientation estimates with compensation of magnetic disturbances in comparison to no compensation or only gyroscopes. The average static error was 1.4 degrees (standard deviation 0.4) in the magnetically disturbed experiments. The dynamic error was 2.6 degrees root means square.