Compensation of Magnetic Disturbances Improves Inertial and Magnetic Sensing of Human Body Segment Orientation


Roetenberg, Daniel and Luinge, Henk and Baten, Chris T.M. and Veltink, Peter H. (2005) Compensation of Magnetic Disturbances Improves Inertial and Magnetic Sensing of Human Body Segment Orientation. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 13 (3). pp. 395-405. ISSN 1534-4320

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Abstract:This paper describes a complementary Kalman filter design to estimate orientation of human body segments by fusing gyroscope, accelerometer, and magnetometer signals from miniature sensors. Ferromagnetic materials or other magnetic fields near the sensor module disturb the local earth magnetic field and, therefore, the orientation estimation, which impedes many (ambulatory) applications. In the filter, the gyroscope bias error, orientation error, and magnetic disturbance error are estimated. The filter was tested under quasi-static and dynamic conditions with ferromagnetic materials close to the sensor module. The quasi-static experiments implied static positions and rotations around the three axes. In the dynamic experiments, three-dimensional rotations were performed near a metal tool case. The orientation estimated by the filter was compared with the orientation obtained with an optical reference system Vicon. Results show accurate and drift-free orientation estimates. The compensation results in a significant difference (p<0.01) between the orientation estimates with compensation of magnetic disturbances in comparison to no compensation or only gyroscopes. The average static error was 1.4/spl deg/ (standard deviation 0.4) in the magnetically disturbed experiments. The dynamic error was 2.6/spl deg/ root means square.
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Copyright:© 2005 IEEE
Electrical Engineering, Mathematics and Computer Science (EEMCS)
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