Inertial and magnetic sensing of human movement near ferromagnetic materials

Author

Roetenberg, Daniel ; Luinge, Henk ; Veltink, Peter

Author_Institution

Twente Univ., Enschede, Netherlands

fYear

2003

fDate

7-10 Oct. 2003

Firstpage

268

Lastpage

269

Abstract

This paper describes a Kalman filter design to estimate orientation of human body segments by fusing gyroscope, accelerometer and magnetometer signals. Ferromagnetic materials near the sensor disturb the local magnetic field and therefore the orientation estimation. The magnetic disturbance can be detected by looking at the total magnetic density and a magnetic disturbance vector can be calculated. Results show the capability of this filter to correct for magnetic disturbances.

Keywords

Kalman filters; gesture recognition; gyroscopes; image motion analysis; magnetic sensors; magnetometers; Kalman filter design; accelerometer; ferromagnetic materials; gyroscope fusing; human body segments; human movement; inertial sensors; magnetic density; magnetic disturbance vector; magnetic disturbances; magnetic field; magnetic sensing; magnetometer signals; orientation estimation; Accelerometers; Filters; Gyroscopes; Magnetic field measurement; Magnetic flux; Magnetic materials; Magnetic sensors; Magnetic separation; Magnetometers; Signal design;

fLanguage

English

Publisher

ieee

Conference_Titel

Mixed and Augmented Reality, 2003. Proceedings. The Second IEEE and ACM International Symposium on

Print_ISBN

0-7695-2006-5

Type

conf

DOI

10.1109/ISMAR.2003.1240714

Filename

1240714