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Sensors 2018, 18(10), 3490; https://doi.org/10.3390/s18103490

Identification of Noise Covariance Matrices to Improve Orientation Estimation by Kalman Filter

1
Prime Institute, CNRS-University of Poitiers-ENSMA, UPR 3346, Robotics, Biomechanics, Sport and Health Team, 86360 Chasseneuil du Poitou, France
2
Laboratoire de Biomécanique et Bioingénierie, UMR CNRS 7338, Université de Technologie de Compiègne, 60203 Compiègne, France
*
Author to whom correspondence should be addressed.
Received: 6 July 2018 / Revised: 1 October 2018 / Accepted: 10 October 2018 / Published: 16 October 2018
(This article belongs to the Section Physical Sensors)
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Abstract

Magneto-inertial measurement units (MIMUs) are a promising way to perform human motion analysis outside the laboratory. To do so, in the literature, orientation provided by an MIMU is used to deduce body segment orientation. This is generally achieved by means of a Kalman filter that fuses acceleration, angular velocity, and magnetic field measures. A critical point when implementing a Kalman filter is the initialization of the covariance matrices that characterize mismodelling and input error from noisy sensors. The present study proposes a methodology to identify the initial values of these covariance matrices that optimize orientation estimation in the context of human motion analysis. The approach used was to apply motion to the sensor manually, and to compare the orientation obtained via the Kalman filter to a measurement from an optoelectronic system acting as a reference. Testing different sets of values for each parameter of the covariance matrices, and comparing each MIMU measurement with the reference measurement, enabled identification of the most effective values. Moreover, with these optimized initial covariance matrices, the orientation estimation was greatly improved. The method, as presented here, provides a unique solution to the problem of identifying the optimal covariance matrices values for Kalman filtering. However, the methodology should be improved in order to reduce the duration of the whole process. View Full-Text
Keywords: inertial sensors; human motion analysis; Kalman filter; covariance matrices; orientation measurement inertial sensors; human motion analysis; Kalman filter; covariance matrices; orientation measurement
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Nez, A.; Fradet, L.; Marin, F.; Monnet, T.; Lacouture, P. Identification of Noise Covariance Matrices to Improve Orientation Estimation by Kalman Filter. Sensors 2018, 18, 3490.

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