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KMID : 1137820110320020118
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의공학회지
2011 Volume.32 No. 2 p.118 ~ p.126
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Human Body Orientation Tracking System Using Inertial and Magnetic Sensors
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Choi H.R.
Ryu M.H.
Yang Yoon-Seok
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Abstract
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This study proposes a human body orientation tracking system by inertial and earth magnetic sensors. These sensors were fused by indirect Kalman filter. The proposed tracking system was configured and the filter was implemented. The tracking performance was evaluated with static and dynamic tests. In static test, the sensor was fixed on the floor while its static characteristics was analyzed. In dynamic test, the sensor was held and moved manually for 30 seconds. The dynamic test included x, y, z axis rotations, and elbow flection/extension motions that mimic drinking. For these dynamic motions, the tracking angle error was under on average. The proposed tracking method is expected to be useful for various human body motion analysis.
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KEYWORD
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Orientation tracking, Inertial sensor, Magnetic sensor, Kalman filter
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