Simplified Kalman filter for a wireless inertial-magnetic motion sensor

Author

Liu, Tao ; Inoue, Yoshio ; Shibata, Kyoko

Author_Institution

Dept. of Intell. Mech. Syst. Eng., Kochi Univ. of Technol., Kami, Japan

fYear

2011

fDate

28-31 Oct. 2011

Firstpage

569

Lastpage

572

Abstract

In this paper, a group of new multi-axis MEMS sensors including triaxial gyroscope (ITG-3200), triaxial accelerometer (ADXL345) and triaxial magnetometer (HMC5843) are incorporated to develop a nine degrees of freedom (9D) motion sensor, which can communicate with personal computer through a Bluetooth wireless module. A simplified Kalman filter is proposed in this paper to implement real-time estimation of triaxial orientation. To test accuracy of the new sensor system, validation experiments by using reference measurements of a commercially available measurement system were performed in a gait laboratory. Experiment results supported that the wireless 9D sensor can be used to measure 3D orientations with an acceptable precision.

Keywords

Bluetooth; Kalman filters; accelerometers; magnetic sensors; measurement systems; microsensors; wireless sensor networks; 9D motion sensor; ADXL345; Bluetooth wireless module; HMC5843; ITG-3200; freedom motion sensor; measurement system; multiaxis MEMS sensors; personal computer; reference measurements; simplified Kalman filter; triaxial accelerometer; triaxial gyroscope; triaxial magnetometer; triaxial orientation real-time estimation; wireless 9D sensor; wireless inertial-magnetic motion sensor; Accelerometers; Biomedical measurements; Magnetic separation; Magnetometers; Motion measurement; Optical variables measurement; Three dimensional displays; Kalman filter; MEMS; gait; motion sensor; orientation;

fLanguage

English

Publisher

ieee

Conference_Titel

Sensors, 2011 IEEE

Conference_Location

Limerick

ISSN

1930-0395

Print_ISBN

978-1-4244-9290-9

Type

conf

DOI

10.1109/ICSENS.2011.6127397

Filename

6127397