文章基本信息

标题：Magnetometer-free inertial motion tracking of arbitrary joints with range of motion constraints
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作者：Dustin Lehmann ; Daniel Laidig ; Raphael Deimel 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：16016-16022
DOI：10.1016/j.ifacol.2020.12.401
语种：English
出版社：Elsevier
摘要：AbstractIn motion tracking of connected multi-body systems, Inertial Measurement Units (IMUs) are used in a wide variety of applications, since they provide a low-cost easy-to-use method for orientation estimation. However, in indoor environments or near ferromagnetic material, the magnetic field is inhomogeneous, which limits the accuracy of tracking algorithms using magnetometers. Methods that use only accelerometers and gyroscopes on the other hand yield no information on the absolute heading of the tracked object. For objects connected by rotational joints with range of motion constraints, a method is proposed that provides a magnetometer-free, long-term stable relative orientation estimate based on a non-linear, window-based cost function. The method can be used for real-time estimation as well as post-processing. It is validated experimentally with a mechanical joint and compared to other methods that are commonly used in motion tracking. It is shown that for the used test object, the proposed method yields the best results with a total angle error of less than 4◦for all experiments.
关键词：Keywordsinformationsensor fusioninertial measurement unitsinertial sensorsmotion trackingstate estimationmagnetometer-free inertial motion trackingexploitation of kinematic constraintsmoving horizon estimation