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A low-cost motion tracker and its error analysis
Citation
Dong, W and Lim, KY and Goh, YK and Nguyen, KD and Chen, I-M and Yeo, SH and Duh, B-L, A low-cost motion tracker and its error analysis, Proceedings of 2008 IEEE International Conference on Robotics and Automation, 19-23 May 2008, Pasadena, USA, pp. 311-316. ISBN 978-1-4244-1647-9 (2008) [Refereed Conference Paper]
Copyright Statement
Copyright 2008 IEEE
Official URL: http://dx.doi.org/10.1109/ROBOT.2008.4543226
Abstract
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 Details
Item Type: | Refereed Conference Paper |
---|---|
Keywords: | motion tracking, human robot interaction |
Research Division: | Information and Computing Sciences |
Research Group: | Library and information studies |
Research Field: | Human information interaction and retrieval |
Objective Division: | Information and Communication Services |
Objective Group: | Information systems, technologies and services |
Objective Field: | Information systems, technologies and services not elsewhere classified |
UTAS 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 |
Downloads: | 0 |
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