How Angular Velocity Features and Different Gyroscope Noise Types Interact and Determine Orientation Estimation Accuracy.
How Angular Velocity Features and Different Gyroscope Noise Types Interact and Determine Orientation Estimation Accuracy.
复制标题
DOI：
10.3390/s150923983
复制
发表时间：
2015-09-18
期刊：
影响因子：
--
通讯作者：
Cappozzo A
中科院分区：
文献类型：
--
作者：
Pasciuto I;Ligorio G;Bergamini E;Vannozzi G;Sabatini AM;Cappozzo A
在人体运动分析中，通过对陀螺仪信号进行数值积分，可以得到人体的三维运动方向。然而，这些信号受到误差的影响，对于微机电系统的情况，这些误差主要是由于：恒定偏置、比例因子、白色噪声和偏置不稳定性。本研究的目的是评估这些干扰如何影响方位估计精度，以及它是否受到陀螺仪轴上的角速度大小和3D分布的影响。参考角速度信号，无论是恒定的或人类行走的代表，被破坏与模拟框架内的四种噪声类型中的每一种。除了白色噪声之外，角速度的大小影响由于每种噪声类型引起的定向估计中的误差。此外，由恒定偏置引起的误差也受到角速度3D分布的影响。由于定向误差不仅取决于噪声本身，而且还取决于它所应用的信号，不同的传感器放置可以增强或减轻由于每个干扰引起的误差，并且必须特别注意提供和解释定向估计算法的准确性测量。
In human movement analysis, 3D body segment orientation can be obtained through the numerical integration of gyroscope signals. These signals, however, are affected by errors that, for the case of micro-electro-mechanical systems, are mainly due to: constant bias, scale factor, white noise, and bias instability. The aim of this study is to assess how the orientation estimation accuracy is affected by each of these disturbances, and whether it is influenced by the angular velocity magnitude and 3D distribution across the gyroscope axes. Reference angular velocity signals, either constant or representative of human walking, were corrupted with each of the four noise types within a simulation framework. The magnitude of the angular velocity affected the error in the orientation estimation due to each noise type, except for the white noise. Additionally, the error caused by the constant bias was also influenced by the angular velocity 3D distribution. As the orientation error depends not only on the noise itself but also on the signal it is applied to, different sensor placements could enhance or mitigate the error due to each disturbance, and special attention must be paid in providing and interpreting measures of accuracy for orientation estimation algorithms.