A fast Gauss-Newton optimizer for estimating human body orientation.
This paper presents a quaternion-based Gauss-Newton optimizer for tracking human body orientation using inertial/magnetic sensors. Since a computationally efficient and robust algorithm for estimating orientation is critical for low-cost and real-time ambulatory purposes, the optimizer is formulated using a virtual rotation concept in order to decrease the computing time. In addition, to guard against the effects of fast body motions and temporary ferromagnetic disturbances, a situational measurement vector selection procedure is adopted in conjunction with the Gauss-Newton optimizer.
Lee
Jung Keun
JK
Department of Mechanical Engineering, University of Victoria, BC, V8W 3P6, Canada. jklee@me.uvic.ca
Park
Edward J
EJ
D000054:Acceleration; D000465:Algorithms; D001696:Biomechanical Phenomena; D001698:Biomedical Engineering; D006801:Humans; D008280:Magnetics / Q000295:instrumentation / Q000706:statistics & numerical data; D015233:Models, Statistical; D009068:Movement / Q000502:physiology*