Development of the wireless ultra-miniaturized inertial measurement unit WB-4

preliminary performance evaluation.

Zhuohua Lin, Massimiliano Zecca, Salvatore Sessa, Luca Bartolomeo, Hiroyuki Ishii, Atsuo Takanishi

Research output: Contribution to journalArticle

30 Citations (Scopus)

Abstract

This paper presents the preliminary performance evaluation of our new wireless ultra-miniaturized inertial measurement unit (IMU) WB-4 by compared with the Vicon motion capture system. The WB-4 IMU primarily contains a mother board for motion sensing, a Bluetooth module for wireless data transmission with PC, and a Li-Polymer battery for power supply. The mother board is provided with a microcontroller and 9-axis inertial sensors (miniaturized MEMS accelerometer, gyroscope and magnetometer) to measure orientation. A quaternion-based extended Kalman filter (EKF) integrated with an R-Adaptive algorithm for automatic estimation of the measurement covariance matrix is implemented for the sensor fusion to retrieve the attitude. The experimental results showed that the wireless ultra-miniaturized WB-4 IMU could provide high accuracy performance at the angles of roll and pitch. The yaw angle which has reasonable performance needs to be further evaluated.

Fingerprint

Units of measurement
Micro-Electrical-Mechanical Systems
Yaws
Electric Power Supplies
Polymers
Bluetooth
Gyroscopes
Sensors
Extended Kalman filters
Magnetometers
Microcontrollers
Adaptive algorithms
Covariance matrix
Accelerometers
Data communication systems
MEMS
Fusion reactions

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition
  • Signal Processing
  • Biomedical Engineering
  • Health Informatics

Cite this

@article{0387caf7d7fb47799fdd55a1c154223a,
title = "Development of the wireless ultra-miniaturized inertial measurement unit WB-4: preliminary performance evaluation.",
abstract = "This paper presents the preliminary performance evaluation of our new wireless ultra-miniaturized inertial measurement unit (IMU) WB-4 by compared with the Vicon motion capture system. The WB-4 IMU primarily contains a mother board for motion sensing, a Bluetooth module for wireless data transmission with PC, and a Li-Polymer battery for power supply. The mother board is provided with a microcontroller and 9-axis inertial sensors (miniaturized MEMS accelerometer, gyroscope and magnetometer) to measure orientation. A quaternion-based extended Kalman filter (EKF) integrated with an R-Adaptive algorithm for automatic estimation of the measurement covariance matrix is implemented for the sensor fusion to retrieve the attitude. The experimental results showed that the wireless ultra-miniaturized WB-4 IMU could provide high accuracy performance at the angles of roll and pitch. The yaw angle which has reasonable performance needs to be further evaluated.",
author = "Zhuohua Lin and Massimiliano Zecca and Salvatore Sessa and Luca Bartolomeo and Hiroyuki Ishii and Atsuo Takanishi",
year = "2011",
language = "English",
volume = "2011",
pages = "6927--6930",
journal = "Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference",
issn = "1557-170X",
publisher = "Institute of Electrical and Electronics Engineers Inc.",

}

TY - JOUR

T1 - Development of the wireless ultra-miniaturized inertial measurement unit WB-4

T2 - preliminary performance evaluation.

AU - Lin, Zhuohua

AU - Zecca, Massimiliano

AU - Sessa, Salvatore

AU - Bartolomeo, Luca

AU - Ishii, Hiroyuki

AU - Takanishi, Atsuo

PY - 2011

Y1 - 2011

N2 - This paper presents the preliminary performance evaluation of our new wireless ultra-miniaturized inertial measurement unit (IMU) WB-4 by compared with the Vicon motion capture system. The WB-4 IMU primarily contains a mother board for motion sensing, a Bluetooth module for wireless data transmission with PC, and a Li-Polymer battery for power supply. The mother board is provided with a microcontroller and 9-axis inertial sensors (miniaturized MEMS accelerometer, gyroscope and magnetometer) to measure orientation. A quaternion-based extended Kalman filter (EKF) integrated with an R-Adaptive algorithm for automatic estimation of the measurement covariance matrix is implemented for the sensor fusion to retrieve the attitude. The experimental results showed that the wireless ultra-miniaturized WB-4 IMU could provide high accuracy performance at the angles of roll and pitch. The yaw angle which has reasonable performance needs to be further evaluated.

AB - This paper presents the preliminary performance evaluation of our new wireless ultra-miniaturized inertial measurement unit (IMU) WB-4 by compared with the Vicon motion capture system. The WB-4 IMU primarily contains a mother board for motion sensing, a Bluetooth module for wireless data transmission with PC, and a Li-Polymer battery for power supply. The mother board is provided with a microcontroller and 9-axis inertial sensors (miniaturized MEMS accelerometer, gyroscope and magnetometer) to measure orientation. A quaternion-based extended Kalman filter (EKF) integrated with an R-Adaptive algorithm for automatic estimation of the measurement covariance matrix is implemented for the sensor fusion to retrieve the attitude. The experimental results showed that the wireless ultra-miniaturized WB-4 IMU could provide high accuracy performance at the angles of roll and pitch. The yaw angle which has reasonable performance needs to be further evaluated.

UR - http://www.scopus.com/inward/record.url?scp=84864624424&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84864624424&partnerID=8YFLogxK

M3 - Article

VL - 2011

SP - 6927

EP - 6930

JO - Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference

JF - Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference

SN - 1557-170X

ER -