|
|
Article: Research from Simon Fraser University reveals new findings on robotics.
- Article from:
- Robotics & Machine Learning
- Article date:
- November 9, 2009
CopyrightCOPYRIGHT 2009 NewsRX. This material is published under license from the publisher through the Gale Group, Farmington Hills, Michigan. All inquiries regarding rights should be directed to the Gale Group. (Hide copyright information)
|
"This paper describes a new quaternion-based Kalman filter (KF) for estimating human body orientation using an inertial/magnetic sensor. The proposed algorithm is comprised of a quaternion measurement step and a KF step that are connected in feedback relationship," scientists in Surrey, Canada report.
"This allows the algorithm to have a minimum-order structure (i.e., fourth order) that is computationally very efficient. Furthermore, to offer more reliable information to the quaternion measurement step, a vector selector scheme is adopted, which effectively adds the gyro measurement to the so-called Wahba's problem that conventionally uses only the accelerometer ...