Design, Implementation, and Experimental Results of a Quaternion-Based Kalman Filter for Human Body Motion Tracking
Bachmann, Eric R.
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Real-time tracking of human body motion is an important technology in synthetic environments, robotics, and other human–computer interaction applications. This paper presents an extended Kalman filter designed for real-time estimation of the orientation of human limb segments. The filter processes data from small inertial/magnetic sensor modules containing triaxial angular rate sensors, accelerometers, and magnetometers. The filter represents rotation using quaternions rather than Euler angles or axis/angle pairs. Preprocessing of the acceleration and magnetometer measurements using the Quest algorithm produces a computed quaternion input for the filter. This preprocessing reduces the dimension of the state vector and makes the measurement equations linear. Real-time implementation and testing results of the quaternion-based Kalman filter are presented. Experimental results validate the filter design, and show the feasibility of using inertial/magnetic sensor modules for real-time human body motion tracking.
This paper was presented in part at the IEEE International Conference on Robotics and Automation, Barcelona, Spain, April 2005.
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