Development of Orientation Estimation Device for Wearable Motion Capture

摘要

In this paper, we develop an absolute orientation estimation device for a wearable motion capture. Accelerometers and magnetometers are used to measure the gravity and the geomagnetic field respectively. Gyroscope sensors are used to measure the local angular velocity. By integrating the measured gravity and geomagnetic field with the local angular velocity using Square-Root Central Difference Kalman Filter (SR-CDKF), the stability and the robustness of estimating the absolute orientation are improved over either sensor alone. We also propose an estimation method which excludes the effect of motion and magnetic disturbances for the accurate estimation.