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Sensors 2014, 14(5), 8167-8188; doi:10.3390/s140508167

Sensor Saturation Compensated Smoothing Algorithm for Inertial Sensor Based Motion Tracking

Department of Electrical Engineering, University of Ulsan, Mugeo-dong, Namgu, Ulsan 680-749, Korea
* Author to whom correspondence should be addressed.
Received: 11 March 2014 / Revised: 29 April 2014 / Accepted: 29 April 2014 / Published: 6 May 2014
(This article belongs to the Section Physical Sensors)


In this paper, a smoothing algorithm for compensating inertial sensor saturation is proposed. The sensor saturation happens when a sensor measures a value that is larger than its dynamic range. This can lead to a considerable accumulated error. To compensate the lost information in saturated sensor data, we propose a smoothing algorithm in which the saturation compensation is formulated as an optimization problem. Based on a standard smoothing algorithm with zero velocity intervals, two saturation estimation methods were proposed. Simulation and experiments prove that the proposed methods are effective in compensating the sensor saturation.
Keywords: sensor saturation compensation; smoothing algorithm sensor saturation compensation; smoothing algorithm
This is an open access article distributed under the Creative Commons Attribution License (CC BY) which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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Dang, Q.K.; Suh, Y.S. Sensor Saturation Compensated Smoothing Algorithm for Inertial Sensor Based Motion Tracking. Sensors 2014, 14, 8167-8188.

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