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

研究成果: Conference contribution

30 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011
ページ6927-6930
ページ数4
DOI
出版ステータスPublished - 2011 12 26
イベント33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011 - Boston, MA, United States
継続期間: 2011 8 302011 9 3

出版物シリーズ

名前Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
ISSN(印刷版)1557-170X

Conference

Conference33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011
国/地域United States
CityBoston, MA
Period11/8/3011/9/3

ASJC Scopus subject areas

  • 信号処理
  • 生体医工学
  • コンピュータ ビジョンおよびパターン認識
  • 健康情報学

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