RT Journal Article
SR Electronic
A1 Rüschen, Daniel
A1 Misgeld, Berno J. E.
A1 Kim, Saim
A1 Leonhardt, Steffen
T1 A Novel Algorithm for the Calibration of Inertial/Magnetic Sensors: Application to a Body Sensor Network
JF Acta Mechanica Slovaca
YR 2014
VO 18
IS 2
SP 42
OP 49
DO 10.21496/ams.2014.018
UL https://www.actamechanica.sk/artkey/ams-201402-0006.php
AB 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°.