A generic drift reduction technique for orientation estimation from biomechanical angular velocity

Anne Haitjema; Frank J. Wouda; Jasper Reenalda; Kim Sunesen; Bert-Jan F. van Beijnum; Peter H. Veltink

doi:10.1109/bsn58485.2023.10331319

A generic drift reduction technique for orientation estimation from biomechanical angular velocity

Anne Haitjema, Frank J. Wouda, Jasper Reenalda, Kim Sunesen, Bert-Jan F. van Beijnum, Peter H. Veltink

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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Abstract

Inertial measurement units are used in ambulatory human movement analysis, but their use is often subject to domain- or application-specific assumptions and methods to compensate for drift in kinematic estimations. Here, we propose and evaluate a generic drift reduction technique for orientation estimation. A second order Taylor approximation for 3D orientation estimation from sampled angular velocity is derived and evaluated on a publicly available dataset containing angular velocity data of 4 runners. The use of a second order Taylor approximation substantially reduces drift when the angular velocity has considerable contributions along all three axes. The second order Taylor approximation could therefore facilitate the use of minimal sensor setups for the study of dynamic 3D human movements.

Original language	English
Title of host publication	2023 IEEE 19th International Conference on Body Sensor Networks (BSN)
Number of pages	4
ISBN (Electronic)	979-8-3503-3841-6
DOIs	https://doi.org/10.1109/bsn58485.2023.10331319
Publication status	Published - 1 Dec 2023
Event	19th International Conference on Body Sensor Networks – Sensors and Systems for Digital Health, IEEE BSN 2023 - Boston, United States Duration: 9 Oct 2023 → 11 Oct 2023 Conference number: 19

Conference

Conference	19th International Conference on Body Sensor Networks – Sensors and Systems for Digital Health, IEEE BSN 2023
Abbreviated title	IEEE BSN 2023
Country/Territory	United States
City	Boston
Period	9/10/23 → 11/10/23

Keywords

Inertial measurement unit (IMU)
gyroscope
drift
orientation tracking
ambulatory movement analysis
2023 OA procedure

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10.1109/bsn58485.2023.10331319

ArticleFinal published version, 1.19 MBLicence: Taverne

Cite this

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title = "A generic drift reduction technique for orientation estimation from biomechanical angular velocity",

abstract = "Inertial measurement units are used in ambulatory human movement analysis, but their use is often subject to domain- or application-specific assumptions and methods to compensate for drift in kinematic estimations. Here, we propose and evaluate a generic drift reduction technique for orientation estimation. A second order Taylor approximation for 3D orientation estimation from sampled angular velocity is derived and evaluated on a publicly available dataset containing angular velocity data of 4 runners. The use of a second order Taylor approximation substantially reduces drift when the angular velocity has considerable contributions along all three axes. The second order Taylor approximation could therefore facilitate the use of minimal sensor setups for the study of dynamic 3D human movements.",

keywords = "Inertial measurement unit (IMU), gyroscope, drift, orientation tracking, ambulatory movement analysis, 2023 OA procedure",

author = "Anne Haitjema and Wouda, {Frank J.} and Jasper Reenalda and Kim Sunesen and Beijnum, {Bert-Jan F. van} and Veltink, {Peter H.}",

year = "2023",

month = dec,

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doi = "10.1109/bsn58485.2023.10331319",

language = "English",

isbn = "979-8-3503-1198-3",

booktitle = "2023 IEEE 19th International Conference on Body Sensor Networks (BSN)",

note = "19th International Conference on Body Sensor Networks – Sensors and Systems for Digital Health, IEEE BSN 2023, IEEE BSN 2023 ; Conference date: 09-10-2023 Through 11-10-2023",

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Haitjema, A, Wouda, FJ, Reenalda, J, Sunesen, K, Beijnum, B-JFV & Veltink, PH 2023, A generic drift reduction technique for orientation estimation from biomechanical angular velocity. in 2023 IEEE 19th International Conference on Body Sensor Networks (BSN). 19th International Conference on Body Sensor Networks – Sensors and Systems for Digital Health, IEEE BSN 2023, Boston, Massachusetts, United States, 9/10/23. https://doi.org/10.1109/bsn58485.2023.10331319

TY - GEN

T1 - A generic drift reduction technique for orientation estimation from biomechanical angular velocity

AU - Haitjema, Anne

AU - Wouda, Frank J.

AU - Reenalda, Jasper

AU - Sunesen, Kim

AU - Beijnum, Bert-Jan F. van

AU - Veltink, Peter H.

N1 - Conference code: 19

PY - 2023/12/1

Y1 - 2023/12/1

N2 - Inertial measurement units are used in ambulatory human movement analysis, but their use is often subject to domain- or application-specific assumptions and methods to compensate for drift in kinematic estimations. Here, we propose and evaluate a generic drift reduction technique for orientation estimation. A second order Taylor approximation for 3D orientation estimation from sampled angular velocity is derived and evaluated on a publicly available dataset containing angular velocity data of 4 runners. The use of a second order Taylor approximation substantially reduces drift when the angular velocity has considerable contributions along all three axes. The second order Taylor approximation could therefore facilitate the use of minimal sensor setups for the study of dynamic 3D human movements.

AB - Inertial measurement units are used in ambulatory human movement analysis, but their use is often subject to domain- or application-specific assumptions and methods to compensate for drift in kinematic estimations. Here, we propose and evaluate a generic drift reduction technique for orientation estimation. A second order Taylor approximation for 3D orientation estimation from sampled angular velocity is derived and evaluated on a publicly available dataset containing angular velocity data of 4 runners. The use of a second order Taylor approximation substantially reduces drift when the angular velocity has considerable contributions along all three axes. The second order Taylor approximation could therefore facilitate the use of minimal sensor setups for the study of dynamic 3D human movements.

KW - Inertial measurement unit (IMU)

KW - gyroscope

KW - drift

KW - orientation tracking

KW - ambulatory movement analysis

KW - 2023 OA procedure

U2 - 10.1109/bsn58485.2023.10331319

DO - 10.1109/bsn58485.2023.10331319

M3 - Conference contribution

SN - 979-8-3503-1198-3

BT - 2023 IEEE 19th International Conference on Body Sensor Networks (BSN)

T2 - 19th International Conference on Body Sensor Networks – Sensors and Systems for Digital Health, IEEE BSN 2023

Y2 - 9 October 2023 through 11 October 2023

ER -

A generic drift reduction technique for orientation estimation from biomechanical angular velocity

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