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: Chapter in Book/Report/Conference proceedingConference contribution

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.

Original languageEnglish
Title of host publicationProceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
Pages6927-6930
Number of pages4
DOIs
Publication statusPublished - 2011
Event33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011 - Boston, MA
Duration: 2011 Aug 302011 Sep 3

Other

Other33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011
CityBoston, MA
Period11/8/3011/9/3

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

Lin, Z., Zecca, M., Sessa, S., Bartolomeo, L., Ishii, H., & Takanishi, A. (2011). Development of the wireless ultra-miniaturized inertial measurement unit WB-4: Preliminary performance evaluation. In Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS (pp. 6927-6930). [6091751] https://doi.org/10.1109/IEMBS.2011.6091751

Development of the wireless ultra-miniaturized inertial measurement unit WB-4 : Preliminary performance evaluation. / Lin, Zhuohua; Zecca, Massimiliano; Sessa, Salvatore; Bartolomeo, Luca; Ishii, Hiroyuki; Takanishi, Atsuo.

Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS. 2011. p. 6927-6930 6091751.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Lin, Z, Zecca, M, Sessa, S, Bartolomeo, L, Ishii, H & Takanishi, A 2011, Development of the wireless ultra-miniaturized inertial measurement unit WB-4: Preliminary performance evaluation. in Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS., 6091751, pp. 6927-6930, 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011, Boston, MA, 11/8/30. https://doi.org/10.1109/IEMBS.2011.6091751
Lin Z, Zecca M, Sessa S, Bartolomeo L, Ishii H, Takanishi A. Development of the wireless ultra-miniaturized inertial measurement unit WB-4: Preliminary performance evaluation. In Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS. 2011. p. 6927-6930. 6091751 https://doi.org/10.1109/IEMBS.2011.6091751
Lin, Zhuohua ; Zecca, Massimiliano ; Sessa, Salvatore ; Bartolomeo, Luca ; Ishii, Hiroyuki ; Takanishi, Atsuo. / Development of the wireless ultra-miniaturized inertial measurement unit WB-4 : Preliminary performance evaluation. Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS. 2011. pp. 6927-6930
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