The DOI matches its Crossref record; 1 of the 1 references it cites were found in a registry or an index.
Quaternion-Based Extended Kalman Filter for Determining Orientation by Inertial and Magnetic Sensing
Abstract
In this paper, a quaternion based extended Kalman filter (EKF) is developed for determining the orientation of a rigid body from the outputs of a sensor which is configured as the integration of a tri-axis gyro and an aiding system mechanized using a tri-axis accelerometer and a tri-axis magnetometer. The suggested applications are for studies in the field of human movement. In the proposed EKF, the quaternion associated with the body rotation is included in the state vector together with the bias of the aiding system sensors. Moreover, in addition to the in-line procedure of sensor bias compensation, the measurement noise covariance matrix is adapted, to guard against the effects which body motion and temporary magnetic disturbance may have on the reliability of measurements of gravity and earth's magnetic field, respectively. By computer simulations and experimental validation with human hand orientation motion signals, improvements in the accuracy of orientation estimates are demonstrated for the proposed EKF, as compared with filter implementations where either the in-line calibration procedure, the adaptive mechanism for weighting the measurements of the aiding system sensors, or both are not implemented.
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Citations
Cites
Detecting absolute human knee angle and angular velocity using accelerometers and rate gyroscopes
Williamson, R., & Andrews, B. J. (2001) · Medical & Biological Engineering & Computing · doi:10.1007/bf02345283 · Cited by 185
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Filippeschi, A., Schmitz, N., Miezal, M., Bleser, G., Ruffaldi, E., & Stricker, D. (2017) · Sensors · doi:10.3390/s17061257 · Cited by 361
Keeping a Good Attitude: A Quaternion-Based Orientation Filter for IMUs and MARGs
Valenti, R., Dryanovski, I., & Xiao, J. (2015) · Sensors · doi:10.3390/s150819302 · Cited by 357
Estimating Three-Dimensional Orientation of Human Body Parts by Inertial/Magnetic Sensing
Sabatini, A. M. (2011) · Sensors · doi:10.3390/s110201489 · Cited by 349
Self-citationEvaluation of a hybrid system for three-dimensional measurement of trunk posture in motion
Plamondon, A., Delisle, A., Larue, C., Brouillette, D., McFadden, D., Desjardins, P., & Larivière, C. (2007) · Applied Ergonomics · doi:10.1016/j.apergo.2006.12.006 · Cited by 102
Schall, M. C., Fethke, N. B., Chen, H., Oyama, S., & Douphrate, D. I. (2016) · Ergonomics · doi:10.1080/00140139.2015.1079335 · Cited by 96
Cereatti, A., Gurchiek, R., Mündermann, A., Fantozzi, S., Horak, F., Delp, S., & Aminian, K. (2024) · Journal of Biomechanics · doi:10.1016/j.jbiomech.2024.112225 · Cited by 79
Measurement of Multi-segment Foot Joint Angles During Gait Using a Wearable System
Rouhani, H., Favre, J., Crevoisier, X., & Aminian, K. (2012) · Journal of Biomechanical Engineering · doi:10.1115/1.4006674 · Cited by 72
Wearables, smartphones, and artificial intelligence for digital phenotyping and health
Perez-Pozuelo, I., Spathis, D., Clifton, E. A., & Mascolo, C. (2020) · Elsevier · doi:10.17863/cam.60922 · Cited by 47
IMU-Based Monitoring for Assistive Diagnosis and Management of IoHT: A Review
Bo, F., Yerebakan, M., Dai, Y., Wang, W., Li, J., Hu, B., & Gao, S. (2022) · Healthcare · doi:10.3390/healthcare10071210 · Cited by 35
Roussos, G., Herrero, T. R., Hill, D. L., Dowling, A. V., L. T. M. Müller, M., Evers, L. J. W., Burton, J., Derungs, A., Fisher, K., Kilambi, K. P., et al. (2022) · npj Digital Medicine · doi:10.1038/s41746-022-00643-4 · Cited by 28
LimbMotion: Decimeter-level Limb Tracking for Wearable-based Human-Computer Interaction
Zhou, H., Gao, Y., Song, X., Liu, W., & Dong, W. (2019) · Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies · doi:10.1145/3369836 · Cited by 27
Wearable Inertial Sensors and Their Applications
Tamura, T. (2014) · Wearable Sensors · doi:10.1016/b978-0-12-418662-0.00024-6 · Cited by 19
Archives of Thrill: The V-Armchair Experience
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Metadata
- Authors
- Sabatini, A. M.
- Venue
- IEEE Transactions on Biomedical Engineering
- Published
- 2006-07
- Volume
- 53
- Issue
- 7
- Pages
- 1346-1356
- ISSN
- 0018-9294 (ISSN-L)
- OpenAlex
- W2161872204
- Cited by
- 887
- References
- 1
- FWCI
- 20.28
- Type
- journal article
- Language
- en
- Open access
- closed
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
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