Inertial Sensor Error Reduction through Calibration and Sensor Fusion
AbstractThis paper presents the comparison between cooperative and local Kalman Filters (KF) for estimating the absolute segment angle, under two calibration conditions. A simplified calibration, that can be replicated in most laboratories; and a complex calibration, similar to that applied by commercial vendors. The cooperative filters use information from either all inertial sensors attached to the body, Matricial KF; or use information from the inertial sensors and the potentiometers of an exoskeleton, Markovian KF. A one minute walking trial of a subject walking with a 6-DoF exoskeleton was used to assess the absolute segment angle of the trunk, thigh, shank, and foot. The results indicate that regardless of the segment and filter applied, the more complex calibration always results in a significantly better performance compared to the simplified calibration. The interaction between filter and calibration suggests that when the quality of the calibration is unknown the Markovian KF is recommended. Applying the complex calibration, the Matricial and Markovian KF perform similarly, with average RMSE below 1.22 degrees. Cooperative KFs perform better or at least equally good as Local KF, we therefore recommend to use cooperative KFs instead of local KFs for control or analysis of walking. View Full-Text
Scifeed alert for new publicationsNever miss any articles matching your research from any publisher
- Get alerts for new papers matching your research
- Find out the new papers from selected authors
- Updated daily for 49'000+ journals and 6000+ publishers
- Define your Scifeed now
Lambrecht, S.; Nogueira, S.L.; Bortole, M.; Siqueira, A.A.G.; Terra, M.H.; Rocon, E.; Pons, J.L. Inertial Sensor Error Reduction through Calibration and Sensor Fusion. Sensors 2016, 16, 235.
Lambrecht S, Nogueira SL, Bortole M, Siqueira AAG, Terra MH, Rocon E, Pons JL. Inertial Sensor Error Reduction through Calibration and Sensor Fusion. Sensors. 2016; 16(2):235.Chicago/Turabian Style
Lambrecht, Stefan; Nogueira, Samuel L.; Bortole, Magdo; Siqueira, Adriano A.G.; Terra, Marco H.; Rocon, Eduardo; Pons, José L. 2016. "Inertial Sensor Error Reduction through Calibration and Sensor Fusion." Sensors 16, no. 2: 235.
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.