Magnetometer-free inertial motion tracking of arbitrary joints with range of motion constraints

verfasst von

Dustin Lehmann, Daniel Laidig, Raphael Deimel, Thomas Seel

Abstract

In motion tracking of connected multi-body systems, Inertial Measurement Units (IMUs) are used in a wide variety of applications, since they provide a low-cost easy-to-use method for orientation estimation. However, in indoor environments or near ferromagnetic material, the magnetic field is inhomogeneous, which limits the accuracy of tracking algorithms using magnetometers. Methods that use only accelerometers and gyroscopes on the other hand yield no information on the absolute heading of the tracked object. For objects connected by rotational joints with range of motion constraints, a method is proposed that provides a magnetometer-free, long-term stable relative orientation estimate based on a non-linear, window-based cost function. The method can be used for real-time estimation as well as post-processing. It is validated experimentally with a mechanical joint and compared to other methods that are commonly used in motion tracking. It is shown that for the used test object, the proposed method yields the best results with a total angle error of less than 4° for all experiments.

Organisationseinheit(en)

Institut für Mechatronische Systeme

Typ

Artikel

Journal

IFAC-PapersOnLine

Band

53

Seiten

16016-16022

Anzahl der Seiten

7

ISSN

2405-8963

Publikationsdatum

2020

Publikationsstatus

Veröffentlicht

Peer-reviewed

Ja

ASJC Scopus Sachgebiete

Steuerungs- und Systemtechnik

Elektronische Version(en)

https://doi.org/10.1016/j.ifacol.2020.12.401 (Zugang: Offen)