Acta Mechanica Slovaca 2014, 18(2):42-49 | DOI: 10.21496/ams.2014.018

A Novel Algorithm for the Calibration of Inertial/Magnetic Sensors: Application to a Body Sensor Network

Daniel Rüschen1*, Berno J.E. Misgeld1, Saim Kim2, Steffen Leonhardt1
1 Philips Chair for Medical Information Technology, RWTH Aachen University, Aachen, Germany
2 MELAG Medizintechnik oHG, Berlin, Germany

Knowledge about the orientation of body segments is a vital source of information. It can be used to estimate human posture in a dynamic environment with multiple applications ranging from artifact or disturbance detection to rehabilitation robotics. The development and test of inertial measurement units requires calibration and a proper reference that can be provided by a motion tracking system. We present a novel approach for the fast calibration of inertial/magnetic sensors and the spatial synchronization with a reference system. The calibration procedure is tested using a Body Sensor Network-based inertial measurement unit and a Vicon tracking system to observe body limb orientation during normal gait on a treadmill. The proposed algorithm reduces the errors incorporated by misalignment of the reference frames and decalibration in the utilized experimental setup by 8.8°.

Published: October 31, 2014  Show citation

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Rüschen, D., Misgeld, B.J.E., Kim, S., & Leonhardt, S. (2014). A Novel Algorithm for the Calibration of Inertial/Magnetic Sensors: Application to a Body Sensor Network. Acta Mechanica Slovaca, 18(2), 42-49. doi: 10.21496/ams.2014.018
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