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Estimating orientation with gyroscopes and accelerometers

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Estimation of orientation with gyroscopes and accelerometers - BMES/EMBS Conference, 1999. Proceedings of the First Joint Proceedings of The Fint Joint BMEEMBS Conference SeMng Humanity, Advancing Technology Od 1516, 33, A h t a . GA, USA ESTIMATION OF ORIENTATION WITH GYROSCOPES AND ACCELEROMETERS H.J.Luinge', P.H.Veltink*, C.T.M. Baten" 'BMTI, University of Twente, P.O.Box 217,7500 AE Enschede, the Netherlands Roessingh Research and Development, P.O.Box 310,7500 AH, Enschede, the Netherlands. *e-mail: [email protected] *I Abstract - 3 0 orientation obtained by integmthg the rate gyroscope signals can be improved by fusion with inclinntion information obtained front 3 0 accelerometer signals. This is relevant for ambulatory human movement analysis. INTRODUCTION Many systems for recording human movement need some reference from beacons near the subject, such as video cameras. Our goal is to measure human kinematics with sensors that are placed on the segments of interest. This way, experiments in which human movement is recorded are not restricted to a lab. Our inertial sensor-unit consists of a little box with three miniature gyroscopes (Murata ENCOSE) and three linear accelerometers (AD xl05) that measure 3D angular velocity and linear acceleration, respectively. This abstract describes a way to fuse both sensors (gyroscopes and accelerometers) to obtain an estimate of the orientation that is both accurate and limited in integration drift. METHODS Both the gyroscope and accelerometer signals contain information about the orientation of the sensor. The sensor orientation can be obtained by integration of the angular velocity signals obtained from the gyroscopes [l]. This operation introduces integration drift 'in the estimated orientation. Accelerometers do dot only measure. the acceleration of the sensor, but also the gravitational vector. This gravitational component not only has a bigger magnitude for many human movemen

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