title: Magnetic, Angular Rate and Gravity Sensor System Fusion for Orientation Estimation.
abstract: This paper presents the development of a fusion strategy to integrate and calibrate signals from magnetometers, gyroscopes and accelerometers to implement a magnetic, angular rate and gravity (MARG) sensor system. The aim of such algorithms is to capture signals from the individual sensors and identify, compensate and reduce external and internal errors such as bias, scale factor and drifts, which highly depend on the noise levels. The necessary calibrations to ensure the reliability of captured data are also presented. The orientation data obtained by the proposed algorithm will be compared with a commercial motion capture system, which are currently being used by researchers in biomechanical analysis and in clinical motor rehabilitation studies.
authors: Electrical Engineering Department, Federal University of Espirito Santo, Brasil.
authors: Manuel R
authors: MR
authors: Alfonso
authors: Electrical Engineering Department, Federal University of Espirito Santo, Brasil.
authors: Anselmo
authors: A
authors: Frizera
authors: Electrical Engineering Department, Federal University of Espirito Santo, Brasil.
authors: Klaus F
authors: KF
authors: Côco
mesh_terms: D061725:Accelerometry; D000465:Algorithms; D001698:Biomedical Engineering; D002138:Calibration; D006112:Gravitation; D006801:Humans; D060306:Magnetometry; D055617:Micro-Electrical-Mechanical Systems / Q000295:instrumentation*; D000072458:Orientation, Spatial / Q000502:physiology*; D012815:Signal Processing, Computer-Assisted; D059015:Wireless Technology