title: Development of the wireless ultra-miniaturized inertial measurement unit WB-4: preliminary performance evaluation.
abstract: This paper presents the preliminary performance evaluation of our new wireless ultra-miniaturized inertial measurement unit (IMU) WB-4 by compared with the Vicon motion capture system. The WB-4 IMU primarily contains a mother board for motion sensing, a Bluetooth module for wireless data transmission with PC, and a Li-Polymer battery for power supply. The mother board is provided with a microcontroller and 9-axis inertial sensors (miniaturized MEMS accelerometer, gyroscope and magnetometer) to measure orientation. A quaternion-based extended Kalman filter (EKF) integrated with an R-Adaptive algorithm for automatic estimation of the measurement covariance matrix is implemented for the sensor fusion to retrieve the attitude. The experimental results showed that the wireless ultra-miniaturized WB-4 IMU could provide high accuracy performance at the angles of roll and pitch. The yaw angle which has reasonable performance needs to be further evaluated.
authors.affiliation: Global Robot Academia,Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo 169-8555, Japan. zhuohualin@ruri.waseda.ac.jp
authors.forename: Zhuohua
authors.initials: Z
authors.lastname: Lin
authors.forename: Massimiliano
authors.initials: M
authors.lastname: Zecca
authors.forename: Salvatore
authors.initials: S
authors.lastname: Sessa
authors.forename: Luca
authors.initials: L
authors.lastname: Bartolomeo
authors.forename: Hiroyuki
authors.initials: H
authors.lastname: Ishii
authors.forename: Atsuo
authors.initials: A
authors.lastname: Takanishi
mesh_terms: D000054:Acceleration; D000465:Algorithms; D003201:Computers; D011211:Electric Power Supplies; D004867:Equipment Design; D006801:Humans; D008094:Lithium / Q000737:chemistry; D055617:Micro-Electrical-Mechanical Systems; D008838:Microcomputers; D008904:Miniaturization; D008991:Monitoring, Physiologic / Q000295:instrumentation* / Q000379:methods*; D009038:Motion; D011108:Polymers / Q000737:chemistry; D015203:Reproducibility of Results; D012815:Signal Processing, Computer-Assisted; D014159:Transducers; D059015:Wireless Technology
chemical_list: D011108:Polymers; D008094:Lithium