Title :
Compensating magnetic disturbances on MARG units by means of a low complexity data fusion algorithm
Author :
Daponte, Pasquale ; De Vito, Luca ; Rapuano, Sergio ; Riccio, Maria ; Picariello, Francesco
Author_Institution :
Dept. of Eng., Univ. of Sannio, Benevento, Italy
Abstract :
The paper proposes a new algorithm for the estimation of orientation of MARG (Magnetic, Angular Rate and Gravity) units, capable of compensating the influence of short-duration magnetic disturbances on the magnetometer, with application in motion tracking for rehabilitation. The proposed algorithm has been designed starting from a widely used low-complexity orientation estimation algorithm, based on the gradient descent minimization. The proposed algorithm has been validated by means of laboratory experiments, aimed at verifying its capability of correctly estimating orientation, by compensating the magnetic disturbances both in static and in dynamic conditions. The results of such experimental phase are presented and discussed in the paper.
Keywords :
biomagnetism; biomechanics; biomedical equipment; biomedical measurement; estimation theory; magnetometers; medical signal processing; minimisation; patient rehabilitation; sensor fusion; MARG unit orientation estimation algorithm; Magnetic Angular Rate and Gravity unit; dynamic condition; gradient descent minimization; laboratory experiment; low complexity data fusion algorithm; low-complexity orientation estimation algorithm; magnetometer; motion tracking; rehabilitation; short-duration magnetic disturbance compensation; static condition; Gyroscopes; Iron; Magnetic sensors; Magnetometers; Quaternions; Sensor systems;
Conference_Titel :
Medical Measurements and Applications (MeMeA), 2015 IEEE International Symposium on
Conference_Location :
Turin
DOI :
10.1109/MeMeA.2015.7145191
