DocumentCode
989529
Title
Quaternion based attitude estimation algorithm applied to signals from body-mounted gyroscopes
Author
Sabatini, A.M.
Author_Institution
Scuola Superiore Sant´´Anna, Pisa, Italy
Volume
40
Issue
10
fYear
2004
fDate
5/13/2004 12:00:00 AM
Firstpage
584
Lastpage
586
Abstract
An application of inertial sensing to gait analysis is described: the attitude estimation algorithm computes the attitude quaternion associated with a body part, i.e. the foot instep moving in the inertial space, by employing a spherical linear interpolation procedure to compensate for the errors due to the influence of the gyroscope bias. The effectiveness of the approach is demonstrated by simulations.
Keywords
Monte Carlo methods; attitude measurement; estimation theory; gait analysis; gyroscopes; body mounted gyroscopes; gait analysis; gyroscope bias; inertial sensing; inertial space; quaternion based attitude estimation algorithm; spherical linear interpolation procedure;
fLanguage
English
Journal_Title
Electronics Letters
Publisher
iet
ISSN
0013-5194
Type
jour
DOI
10.1049/el:20040401
Filename
1300218
Link To Document