Short-Term Tracking of Orientation with Inertial Sensors - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Short-Term Tracking of Orientation with Inertial Sensors write by . This book was released on 2018. Short-Term Tracking of Orientation with Inertial Sensors available in PDF, EPUB and Kindle. In the past several years, IMU's have been widely used to measure the orientation of a moving body over a continuous period of time. Although, inertial navigation is a common approach for estimating the orientation, it greatly suffers from the accumulation of error in the orientation estimation. Most of the current common practices apply zero velocity update as a calibration method to address this problem and improve the estimation accuracy. However, this approach requires the sensors to be stationary frequently. This thesis introduces a novel method of calibration for estimating the elevation and bank angles of the orientation over a persistent human movement utilizing accelerometers and gyroscopes. The proposed technique incorporates the prior knowledge about the human motion to the estimation of the orientation to prevent the estimated position from growing unboundedly. The measurement model is designed to estimate the position for T seconds in the future. The knowledge of the estimated position for few seconds further in the future provides a feedback for orientation estimation during the periods of time when the accelerometer's readings are significantly deviated from gravity. This work evaluates the performance of the proposed method in two different ways: 1. a model of human movement is designed to generate synthetic data which resembles human motion. 2. an experimental design is implemented using a robot arm and an actual IMU to capture real data. The performance of the new technique is compared with the results from the inertial navigation approach. It is demonstrated that the new method significantly improves the accuracy of the orientation estimation.
Using Inertial Sensors for Position and Orientation Estimation
Using Inertial Sensors for Position and Orientation Estimation - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Using Inertial Sensors for Position and Orientation Estimation write by Manon Kok. This book was released on 2018-01-31. Using Inertial Sensors for Position and Orientation Estimation available in PDF, EPUB and Kindle. Microelectromechanical system (MEMS) inertial sensors have become ubiquitous in modern society. Built into mobile telephones, gaming consoles, virtual reality headsets, we use such sensors on a daily basis. They also have applications in medical therapy devices, motion-capture filming, traffic monitoring systems, and drones. While providing accurate measurements over short time scales, this diminishes over longer periods. To date, this problem has been resolved by combining them with additional sensors and models. This adds both expense and size to the devices. This tutorial focuses on the signal processing aspects of position and orientation estimation using inertial sensors. It discusses different modelling choices and a selected number of important algorithms that engineers can use to select the best options for their designs. The algorithms include optimization-based smoothing and filtering as well as computationally cheaper extended Kalman filter and complementary filter implementations. Engineers, researchers, and students deploying MEMS inertial sensors will find that this tutorial is an essential monograph on how to optimize their designs.
Human Motion Tracking and Orientation Estimation Using Inertial Sensors and RSSI Measurements
Human Motion Tracking and Orientation Estimation Using Inertial Sensors and RSSI Measurements - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Human Motion Tracking and Orientation Estimation Using Inertial Sensors and RSSI Measurements write by Ami Luttwak. This book was released on 2011. Human Motion Tracking and Orientation Estimation Using Inertial Sensors and RSSI Measurements available in PDF, EPUB and Kindle.
Virtual Reality
Virtual Reality - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Virtual Reality write by National Research Council. This book was released on 1995-01-13. Virtual Reality available in PDF, EPUB and Kindle. Despite widespread interest in virtual reality, research and development efforts in synthetic environments (SE)â€"the field encompassing virtual environments, teleoperation, and hybridsâ€"have remained fragmented. Virtual Reality is the first integrated treatment of the topic, presenting current knowledge along with thought-provoking vignettes about a future where SE is commonplace. This volume discusses all aspects of creating a system that will allow human operators to see, hear, smell, taste, move about, give commands, respond to conditions, and manipulate objects effectively in a real or virtual environment. The committee of computer scientists, engineers, and psychologists on the leading edge of SE development explores the potential applications of SE in the areas of manufacturing, medicine, education, training, scientific visualization, and teleoperation in hazardous environments. The committee also offers recommendations for development of improved SE technology, needed studies of human behavior and evaluation of SE systems, and government policy and infrastructure.
Inertial and Magnetic Tracking of Limb Segment Orientation for Inserting Humans Into Synthetic Environments
Inertial and Magnetic Tracking of Limb Segment Orientation for Inserting Humans Into Synthetic Environments - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Inertial and Magnetic Tracking of Limb Segment Orientation for Inserting Humans Into Synthetic Environments write by Eric Robert Bachmann. This book was released on 2000-12-01. Inertial and Magnetic Tracking of Limb Segment Orientation for Inserting Humans Into Synthetic Environments available in PDF, EPUB and Kindle. Current motion tracking technologies fail to provide accurate wide area tracking of multiple users without interference and occlusion problems. This research proposes to overcome current limitations using nine-axis magnetic/ angular/rate/gravity (MARG) sensors combined with a quaternion-based complementary filter algorithm capable of continuously correcting for drift and following angular motion through all orientations without singularities. Primarily, this research involves the development of a prototype tracking system to demonstrate the feasibility of MARG sensor body motion tracking Mathematical analysis and computer simulation are used to validate the correctness of the complementary filter algorithm The implemented human body model utilizes the world-coordinate reference frame orientation data provided in quaternion form by the complementary filter and orients each limb segment independently. Calibration of the model and the inertial sensors is accomplished using simple but effective algorithms. Physical experiments demonstrate the utility of the proposed system by tracking of human limbs in real-time using multiple MARG sensors. The system is "sourceless" and does not suffer from range restrictions and interference problems. This new technology overcomes the limitations of motion tracking technologies currently in use. It has the potential to provide wide area tracking of multiple users in virtual environment and augmented reality applications.
