This paper develops a physical model of an inertial/magnetic measurement unit by effectively integrating an accelerometer, a magnetometer, and two gyroscopes for lowg motion tracking applications. The proposed model breaks down the errors contributed by individual components, then determines error elimination methods based on sensor behavior and characteristics, and finally constructs a feedback loop for continuous self-calibration. Measurement errors are reduced by adopting a systematic design methodology: 1) tilt errors are minimized through a careful selection of A/D convertor resolution and by making compensation on sensor bias and scale factor; 2) heading errors are reduced by cancelling out nearby ferrous distortions and making tilt-compensation on the magnetometer; 3) errors from gyroscope measurements are eliminated via the least squares algorithm and continuous corrections using orientation data at the steady-state position. Preliminary tests for low-g motion sensing show that the motion tracker can achieve less than ±0.5º accuracy in tilt and less than ±1º accuracy in yaw angle measurement with above-mentioned methods.

Item Type:	Refereed Conference Paper
Keywords:	motion tracking, human robot interaction
Research Division:	Information and Computing Sciences
Research Group:	Information Systems
Research Field:	Computer-Human Interaction
Objective Division:	Information and Communication Services
Objective Group:	Computer Software and Services
Objective Field:	Application Tools and System Utilities
Author:	Duh, B-L (Professor Henry Duh)
ID Code:	90336
Year Published:	2008
Deposited By:	Information and Communication Technology
Deposited On:	2014-03-31
Last Modified:	2015-02-12
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