Compensating magnetic disturbances on MARG units by means of a low complexity data fusion algorithm

Author

Daponte, Pasquale ; De Vito, Luca ; Rapuano, Sergio ; Riccio, Maria ; Picariello, Francesco

Author_Institution

Dept. of Eng., Univ. of Sannio, Benevento, Italy

fYear

2015

fDate

7-9 May 2015

Firstpage

157

Lastpage

162

Abstract

The paper proposes a new algorithm for the estimation of orientation of MARG (Magnetic, Angular Rate and Gravity) units, capable of compensating the influence of short-duration magnetic disturbances on the magnetometer, with application in motion tracking for rehabilitation. The proposed algorithm has been designed starting from a widely used low-complexity orientation estimation algorithm, based on the gradient descent minimization. The proposed algorithm has been validated by means of laboratory experiments, aimed at verifying its capability of correctly estimating orientation, by compensating the magnetic disturbances both in static and in dynamic conditions. The results of such experimental phase are presented and discussed in the paper.

Keywords

biomagnetism; biomechanics; biomedical equipment; biomedical measurement; estimation theory; magnetometers; medical signal processing; minimisation; patient rehabilitation; sensor fusion; MARG unit orientation estimation algorithm; Magnetic Angular Rate and Gravity unit; dynamic condition; gradient descent minimization; laboratory experiment; low complexity data fusion algorithm; low-complexity orientation estimation algorithm; magnetometer; motion tracking; rehabilitation; short-duration magnetic disturbance compensation; static condition; Gyroscopes; Iron; Magnetic sensors; Magnetometers; Quaternions; Sensor systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Medical Measurements and Applications (MeMeA), 2015 IEEE International Symposium on

Conference_Location

Turin

Type

conf

DOI

10.1109/MeMeA.2015.7145191

Filename

7145191