3-D Position Estimation from Inertial Sensing: Minimizing the Error from the Process of Double Integration of Accelerations

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2013

Autores

Neto, P (Autor) Outra; Pires, JN (Autor) Outra; António Paulo Moreira (Autor) FEUP

Ata de Conferência Internacional

Título: 39TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY (IECON 2013)

Páginas: 4026-4031

39th Annual Conference of the IEEE Industrial-Electronics-Society (IECON)

Vienna, AUSTRIA, NOV 10-14, 2013

Indexação

ISI Web of Knowledge - 17 Citações

Scopus - 24 Citações

Outras Informações

ID Authenticus: P-009-4S4

DOI: 10.1109/iecon.2013.6699780

Abstract (EN): This paper introduces a new approach to 3-D position estimation from acceleration data, i.e., a 3-D motion tracking system having a small size and low-cost magnetic and inertial measurement unit (MIMU) composed by both a digital compass and a gyroscope as interaction technology. A major challenge is to minimize the error caused by the process of double integration of accelerations due to motion (these ones have to be separated from the accelerations due to gravity). Owing to drift error, position estimation cannot be performed with adequate accuracy for periods longer than few seconds. For this reason, we propose a method to detect motion stops and only integrate accelerations in moments of effective hand motion during the demonstration process. The proposed system is validated and evaluated with experiments reporting a common daily life pick-and-place task.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6