TY - JOUR
T1 - Improvement of Optical Tracking-Based Orientation Estimation by Fusing Gyroscope Information
AU - Yang, Zhicheng
AU - Yan, Shenggang
AU - Van Beijnum, Bert Jan F.
AU - Li, Bin
AU - Veltink, Peter H.
N1 - Funding Information:
Manuscript received September 29, 2020; revised March 8, 2021; accepted April 4, 2021. Date of publication April 14, 2021; date of current version May 5, 2021. The work of Z. Yang was supported by the China Scholarship Council. The Associate Editor coordinating the review process was Yuya Koyama. (Corresponding author: Zhicheng Yang.) Zhicheng Yang is with the School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, China, and also with the Department of Biomedical Signals and Systems, University of Twente, 7522 NB Enschede, The Netherlands.
Publisher Copyright:
© 1963-2012 IEEE.
PY - 2021/5/5
Y1 - 2021/5/5
N2 - Optical tracking systems (OTS) can provide high position accuracy over a large workspace. However, the orientation from the OTS is related to the distance between markers, which contains large errors when the distance is small or line-of-sight problems occur. The orientation estimation with a gyroscope is complementary to the OTS-based orientation. In this article, an error-state Kalman filter (ESKF) is proposed to fuse them. Two experiments were performed to verify the performance: first, a unit including markers and a gyroscope was placed statically and rotated dynamically in 3-D space. Secondly, two units were used to estimate the relative orientation between the hand and fingers. The static and dynamic orientation errors reduced from 0.39° ± 0.16° and 2.75° ± 1.56° to 0.23° ± 0.02° and 1.50° ± 0.62°, respectively, when the distance between markers was 13 mm. The second experimental results show that the fused method improved the OTS performance by smoothing the estimate, filling the relative orientation during the line of sight period, and correcting the estimation when there were identification problems of markers.
AB - Optical tracking systems (OTS) can provide high position accuracy over a large workspace. However, the orientation from the OTS is related to the distance between markers, which contains large errors when the distance is small or line-of-sight problems occur. The orientation estimation with a gyroscope is complementary to the OTS-based orientation. In this article, an error-state Kalman filter (ESKF) is proposed to fuse them. Two experiments were performed to verify the performance: first, a unit including markers and a gyroscope was placed statically and rotated dynamically in 3-D space. Secondly, two units were used to estimate the relative orientation between the hand and fingers. The static and dynamic orientation errors reduced from 0.39° ± 0.16° and 2.75° ± 1.56° to 0.23° ± 0.02° and 1.50° ± 0.62°, respectively, when the distance between markers was 13 mm. The second experimental results show that the fused method improved the OTS performance by smoothing the estimate, filling the relative orientation during the line of sight period, and correcting the estimation when there were identification problems of markers.
KW - 2022 OA procedure
KW - gyroscope
KW - optical tracking system (OTS)
KW - orientation
KW - Data fusion
UR - http://www.scopus.com/inward/record.url?scp=85104257009&partnerID=8YFLogxK
U2 - 10.1109/TIM.2021.3073293
DO - 10.1109/TIM.2021.3073293
M3 - Article
AN - SCOPUS:85104257009
SN - 0018-9456
VL - 70
JO - IEEE transactions on instrumentation and measurement
JF - IEEE transactions on instrumentation and measurement
M1 - 9404210
ER -