A determination method of position,attitude and velocity based on inertial/magnetic for human movement

Inertial/Magnetic tracking technology had been publicly investigated, but most of the methods were based on the assumption that acceleration of the body segment in the global system was quite small to be neglected, and they couldn´t figure out the velocity and location accurately. However micro compass was easily disturbed by external magnetic environment which seriously effected calculation of heading. So the states of acceleration and disturbance of ferromagnetic were introduced based on the traditional error equation, and the attitude was solved by kalman filter error equations. The sphere surface dynamic model which got the joint as center and length of segment as radius was established through analyzing the movement of human. According to the attitude and dynamic model, the position and velocity in moving was calculated real time. Finally, the experiment shows that the method proposed in this paper is effective.