A Full-State Robust Extended Kalman Filter for Orientation Tracking During Long-Duration Dynamic Tasks Using Magnetic and Inertial Measurement Units

Accurate and robust orientation estimation using magnetic and inertial measurement units (MIMUs) has been a challenge for many years in long-duration measurements of joint angles and pedestrian dead-reckoning systems and has limited several real-world applications of MIMUs. Thus, this research aimed...

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Bibliographic Details
Published in:	IEEE transactions on neural systems and rehabilitation engineering Vol. 29; pp. 1280 - 1289
Main Authors:	Nazarahari, Milad, Rouhani, Hossein
Format:	Journal Article
Language:	English
Published:	New York IEEE 2021 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Accelerometers body sensor network Covariance matrix Dead reckoning Extended Kalman filter Feet Filters Gravity Gyroscopes Human motion monitoring inertial navigation systems Inertial platforms Magnetic disturbances Magnetic field measurement Magnetic separation Magnetometers Mathematical analysis Mathematical model Motion capture Orientation Pitch (inclination) Quaternions robust extended Kalman filter Robustness Rolling motion sensor fusion algorithms State vectors Task analysis Thigh Tracking Yaw
ISSN:	1534-4320, 1558-0210, 1558-0210
Online Access:	Get full text
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