Title :
Research on posture recognition based on Kalman filter and quaternion
Author :
Lai, Xiao-chen ; Liu, Quan-li ; Wang, Wei ; Li, Li-kun
Author_Institution :
Fac. of Electron. Inf. & Electr. Eng., Dalian Univ. of Technol., Dalian, China
fDate :
June 30 2012-July 2 2012
Abstract :
The accuracy of quaternion method in strap-down inertial navigation used for posture recognition is subjected to sensor data drift. Analysis shows that quaternion is a state variable in discrete time linear constant system. A method based on Kalman filter to correct the error is proposed. Recursive calculations on state variables can effectively reduce system error. Experiments show that this method significantly increases the accuracy of posture recognition.
Keywords :
Kalman filters; discrete time systems; inertial navigation; linear systems; object recognition; Kalman filter; discrete time linear constant system; posture recognition; quaternion method; sensor data drift; strap-down inertial navigation; Accuracy; Angular velocity; Equations; Gyroscopes; Kalman filters; Noise; Quaternions; Kalman filter; gyroscope; posture recognition; quaternion; strap-down inertial navigation;
Conference_Titel :
System Science and Engineering (ICSSE), 2012 International Conference on
Conference_Location :
Dalian, Liaoning
Print_ISBN :
978-1-4673-0944-8
Electronic_ISBN :
978-1-4673-0943-1
DOI :
10.1109/ICSSE.2012.6257178
