title: Inertial and time-of-arrival ranging sensor fusion.
abstract: Wearable devices with embedded kinematic sensors including triaxial accelerometers, gyroscopes, and magnetometers are becoming widely used in applications for tracking human movement in domains that include sports, motion gaming, medicine, and wellness. The kinematic sensors can be used to estimate orientation, but can only estimate changes in position over short periods of time. We developed a prototype sensor that includes ultra wideband ranging sensors and kinematic sensors to determine the feasibility of fusing the two sensor technologies to estimate both orientation and position. We used a state space model and applied the unscented Kalman filter to fuse the sensor information. Our results demonstrate that it is possible to estimate orientation and position with less error than is possible with either sensor technology alone. In our experiment we obtained a position root mean square error of 5.2cm and orientation error of 4.8° over a 15min recording.
authors.affiliation: APDM, Inc., 2828 SW Corbett Avenue, Portland, OR, USA.
authors.forename: Paul
authors.initials: P
authors.lastname: Vasilyev
authors.affiliation: APDM, Inc., 2828 SW Corbett Avenue, Portland, OR, USA.
authors.forename: Sean
authors.initials: S
authors.lastname: Pearson
authors.affiliation: APDM, Inc., 2828 SW Corbett Avenue, Portland, OR, USA. Electronic address: mahmoud@apdm.com.
authors.forename: Mahmoud
authors.initials: M
authors.lastname: El-Gohary
authors.affiliation: APDM, Inc., 2828 SW Corbett Avenue, Portland, OR, USA.
authors.forename: Mateo
authors.initials: M
authors.lastname: Aboy
authors.affiliation: APDM, Inc., 2828 SW Corbett Avenue, Portland, OR, USA; Department of Electrical and Computer Engineering, Portland State University, Portland, OR, USA.
authors.forename: James
authors.initials: J
authors.lastname: McNames
mesh_terms: D061725:Accelerometry / Q000295:instrumentation* / Q000379:methods*; D000465:Algorithms; D001499:Bayes Theorem; D001696:Biomechanical Phenomena; D004867:Equipment Design; D006112:Gravitation; D006801:Humans; D009068:Movement; D009949:Orientation; D000075082:Proof of Concept Study; D012371:Robotics; D012815:Signal Processing, Computer-Assisted / Q000295:instrumentation*; D000076251:Wearable Electronic Devices
keywords: Bayesian estimation; Indoor positioning; Ultra wideband (UWB)