A Basic Study on Variable-Gain Kalman Filter based on Angle Error Calculated from Acceleration Signals for Lower Limb Angle Measurement with Inertial Sensors
A Basic Study on Variable-Gain Kalman Filter based on Angle Error Calculated from Acceleration Signals for Lower Limb Angle Measurement with Inertial Sensors
复制标题
基于加速度信号计算角度误差的可变增益卡尔曼滤波器惯性传感器下肢角度测量的基础研究
DOI：
10.1109/embc.2013.6610277
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发表时间：
2013
期刊：
影响因子：
--
通讯作者：
Takashi Watanabe
中科院分区：
文献类型：
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作者：
Yuta Teruyama;Takashi Watanabe
在本研究中，重点开发使用惯性传感器的可穿戴运动测量系统，以实现康复支持。为了利用惯性传感器测量下肢关节角度，开发了基于卡尔曼滤波的角度测量方法。然而，需要减少取决于移动速度或对象的测量误差的变化。在本报告中，测试了基于卡尔曼滤波器估计的角度与根据加速度信号计算的角度之间的差异的可变增益卡尔曼滤波器。对健康受试者在跑步机上行走时的角度测量结果表明，与固定参数值的方法相比，该方法足部倾斜角度的测量精度显着提高。
In this study, development of wearable motion measurement system using inertial sensors has been focused with the aim of rehabilitation support. For measurement of lower limb joint angles with inertial sensors, Kalman-filtering-based angle measurement method was developed. However, it was required to reduce variation of measurement errors that depended on movement speeds or subjects. In this report, variable-gain Kalman filter based on the difference between the estimated angle by the Kalman filter and the angle calculated from acceleration signals was tested. From angle measurement during treadmill walking with healthy subjects, it was shown that measurement accuracy of the foot inclination angle was significantly improved with the proposed method compared to the method of fixed parameter value.