Estimating orientation with gyroscopes and accelerometers

    Research output: Contribution to journalArticleAcademicpeer-review

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    Abstract

    Many systems for recording human movement need some reference from beacons near the subject, such as video cameras. Our goal is to measure human kinematics with sensors that are placed on the segments of interest. This way, experiments in which human movement is recorded are not restricted to a lab. Our inertial sensor-unit consists of a little box with three miniature gyroscopes (Murata ENC05E) and three linear accelerometers (AD xl05) that measure 3D angular velocity and linear acceleration, respectively. Both the gyroscope and accelerometer signals contain information about the orientation of the sensor. The sensor orientation can be obtained by integration of the angular velocity signals obtained from the gyroscopes [1]. This operation introduces drift in the estimated orientation. Accelerometers do not only measure the acceleration of the sensor, but also the gravitational vector. This gravitational component not only has a bigger magnitude for many human movements but also always points downwards. This knowledge can be used to make an estimation of the tilt. The tilt is the angle between the sensor axes and the vertical. This tilt estimation is not very precise but does not suffer from drift. The abstract describes a way to fuse both sensors (gyroscopes and accelerometers) to obtain an estimate of the orientation that is both accurate and is limited in integration drift.
    Original languageUndefined
    Pages (from-to)455-459
    Number of pages5
    JournalTechnology and health care
    Volume7
    Issue number6
    Publication statusPublished - 1999

    Keywords

    • METIS-111753
    • IR-61424

    Cite this

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    title = "Estimating orientation with gyroscopes and accelerometers",
    abstract = "Many systems for recording human movement need some reference from beacons near the subject, such as video cameras. Our goal is to measure human kinematics with sensors that are placed on the segments of interest. This way, experiments in which human movement is recorded are not restricted to a lab. Our inertial sensor-unit consists of a little box with three miniature gyroscopes (Murata ENC05E) and three linear accelerometers (AD xl05) that measure 3D angular velocity and linear acceleration, respectively. Both the gyroscope and accelerometer signals contain information about the orientation of the sensor. The sensor orientation can be obtained by integration of the angular velocity signals obtained from the gyroscopes [1]. This operation introduces drift in the estimated orientation. Accelerometers do not only measure the acceleration of the sensor, but also the gravitational vector. This gravitational component not only has a bigger magnitude for many human movements but also always points downwards. This knowledge can be used to make an estimation of the tilt. The tilt is the angle between the sensor axes and the vertical. This tilt estimation is not very precise but does not suffer from drift. The abstract describes a way to fuse both sensors (gyroscopes and accelerometers) to obtain an estimate of the orientation that is both accurate and is limited in integration drift.",
    keywords = "METIS-111753, IR-61424",
    author = "Luinge, {Hendrik J.} and Veltink, {Petrus H.} and Baten, {Christian T.M.}",
    year = "1999",
    language = "Undefined",
    volume = "7",
    pages = "455--459",
    journal = "Technology and health care",
    issn = "0928-7329",
    publisher = "IOS Press",
    number = "6",

    }

    Estimating orientation with gyroscopes and accelerometers. / Luinge, Hendrik J.; Veltink, Petrus H.; Baten, Christian T.M.

    In: Technology and health care, Vol. 7, No. 6, 1999, p. 455-459.

    Research output: Contribution to journalArticleAcademicpeer-review

    TY - JOUR

    T1 - Estimating orientation with gyroscopes and accelerometers

    AU - Luinge, Hendrik J.

    AU - Veltink, Petrus H.

    AU - Baten, Christian T.M.

    PY - 1999

    Y1 - 1999

    N2 - Many systems for recording human movement need some reference from beacons near the subject, such as video cameras. Our goal is to measure human kinematics with sensors that are placed on the segments of interest. This way, experiments in which human movement is recorded are not restricted to a lab. Our inertial sensor-unit consists of a little box with three miniature gyroscopes (Murata ENC05E) and three linear accelerometers (AD xl05) that measure 3D angular velocity and linear acceleration, respectively. Both the gyroscope and accelerometer signals contain information about the orientation of the sensor. The sensor orientation can be obtained by integration of the angular velocity signals obtained from the gyroscopes [1]. This operation introduces drift in the estimated orientation. Accelerometers do not only measure the acceleration of the sensor, but also the gravitational vector. This gravitational component not only has a bigger magnitude for many human movements but also always points downwards. This knowledge can be used to make an estimation of the tilt. The tilt is the angle between the sensor axes and the vertical. This tilt estimation is not very precise but does not suffer from drift. The abstract describes a way to fuse both sensors (gyroscopes and accelerometers) to obtain an estimate of the orientation that is both accurate and is limited in integration drift.

    AB - Many systems for recording human movement need some reference from beacons near the subject, such as video cameras. Our goal is to measure human kinematics with sensors that are placed on the segments of interest. This way, experiments in which human movement is recorded are not restricted to a lab. Our inertial sensor-unit consists of a little box with three miniature gyroscopes (Murata ENC05E) and three linear accelerometers (AD xl05) that measure 3D angular velocity and linear acceleration, respectively. Both the gyroscope and accelerometer signals contain information about the orientation of the sensor. The sensor orientation can be obtained by integration of the angular velocity signals obtained from the gyroscopes [1]. This operation introduces drift in the estimated orientation. Accelerometers do not only measure the acceleration of the sensor, but also the gravitational vector. This gravitational component not only has a bigger magnitude for many human movements but also always points downwards. This knowledge can be used to make an estimation of the tilt. The tilt is the angle between the sensor axes and the vertical. This tilt estimation is not very precise but does not suffer from drift. The abstract describes a way to fuse both sensors (gyroscopes and accelerometers) to obtain an estimate of the orientation that is both accurate and is limited in integration drift.

    KW - METIS-111753

    KW - IR-61424

    M3 - Article

    VL - 7

    SP - 455

    EP - 459

    JO - Technology and health care

    JF - Technology and health care

    SN - 0928-7329

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    ER -