A fast Gauss-Newton optimizer for estimating human body orientation

This paper presents a quaternion-based Gauss-Newton optimizer for tracking human body orientation using inertial/magnetic sensors. Since a computationally efficient and robust algorithm for estimating orientation is critical for low-cost and real-time ambulatory purposes, the optimizer is formulated using a virtual rotation concept in order to decrease the computing time. In addition, to guard against the effects of fast body motions and temporary ferromagnetic disturbances, a situational measurement vector selection procedure is adopted in conjunction with the Gauss-Newton optimizer.