Estimation of Posture and Position Based on Geometric Calculation Using IMUs

Yumiko Murata, Toshiyuki Murakami

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

In IMUs, three sensors, acceleration, gyroscope, and magnetic, are implemented. Data get from these sensors are used to acquire posture and position of each sensor. Theoretically, from a simple integration of an acceleration and an angular velocity, position and posture could be calculated. The IMU is applied to many fields due to its user friendly structure. Human motion detection is one of interesting applications. However, small error in the measured data are also integrated, hence position error and posture error, which is also called drift, occur. The purpose of this paper is to estimate position and posture using IMUs without human model. Two IMUs are used to estimate posture and position. For posture estimation, complementation of posture angle are done from an 'angular velocity' and a 'gravity acceleration'. For position estimation, complementation by relative relationship between 2 sensors has been proposed. This is the novel part of this paper. Two ways of position complementation algorithm are proposed. One method is complementation by Kalman Filter, and the other is complementation by error estimation. Error estimation is based on a theory of mode transfer between relative space and world space. The validation of proposed method is done by experiment.

本文言語English
ホスト出版物のタイトルProceedings
ホスト出版物のサブタイトルIECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society
出版社IEEE Computer Society
ページ5388-5393
ページ数6
ISBN(電子版)9781728148786
DOI
出版ステータスPublished - 2019 10月
イベント45th Annual Conference of the IEEE Industrial Electronics Society, IECON 2019 - Lisbon, Portugal
継続期間: 2019 10月 142019 10月 17

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)
2019-October

Conference

Conference45th Annual Conference of the IEEE Industrial Electronics Society, IECON 2019
国/地域Portugal
CityLisbon
Period19/10/1419/10/17

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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