Implementation and Experimental Results of a Quaternion-Based Kalman Filter for Human Body Motion Tracking

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Authors
Yun, Xiaoping
Aparicio, Conrado
Bachmann, Eric R.
McGhee, Robert B.
Subjects
Quaternion-based Kalman filter
human body motion tracking
MARG sensors
inertial/magnetic sensors.
Advisors
Date of Issue
2005-04
Date
Publisher
IEEE
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Abstract
A human body motion tracking system based on use of the MARG (Magnetic, Angular Rate, and Gravity) sensors has been under development at the Naval Postgraduate School and Miami University. The design of a quaternion- based Kalman filter for processing the MARG sensor data was described in [1]. This paper presents the real-time implementation and testing results of the quaternion-based Kalman filter. Experimental results validate the Kalman filter design, and show the feasibility of the MARG sensors for real- time human body motion tracking.
Type
Article
Description
The article of record as published may be found at https://doi.org/10.1109/ROBOT.2005.1570138
URI
https://hdl.handle.net/10945/63774
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Organization
Naval Postgraduate School (U.S.)
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NPS Report Number
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Funder
Format
6 p.
Citation
Yun, Xiaoping, et al. "Implementation and experimental results of a quaternion-based Kalman filter for human body motion tracking." Proceedings of the 2005 IEEE International Conference on Robotics and Automation. IEEE, 2005.
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This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.
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