A fast quaternion-based orientation optimizer via virtual rotation for human motion tracking.
For real-time ambulatory human motion tracking with low-cost inertial/magnetic sensors, a computationally efficient and robust algorithm for estimating orientation is critical. This paper presents a quaternion-based orientation optimizer for tracking human body motion, using triaxis rate gyro, accelerometer, and magnetometer signals. The proposed optimizer uses a Gauss-Newton (G-N) method for finding the best-fit quaternion. In order to decrease the computing time, the optimizer is formulated using a virtual rotation concept that allows very fast quaternion updates compared to the conventional G-N method. 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 G-N optimizer. The accuracy of orientation estimates is validated experimentally, using arm motion trials.
Lee
Jung Keun
JK
School of Engineering Science, Simon Fraser University, Surrey, BC V3T 0A3, Canada. jkl25@sfu.ca
Park
Edward J
EJ
D000465:Algorithms; D001132:Arm / Q000502:physiology*; D001696:Biomechanical Phenomena; D004574:Electromagnetic Fields; D006801:Humans; D015233:Models, Statistical; D009068:Movement / Q000502:physiology*; D015203:Reproducibility of Results; D016138:Walking / Q000502:physiology*