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

• Type: Article in International Conference Proceedings Book
• Date: 2013

Authors

Neto, P (Author) Other; Pires, JN (Author) Other; António Paulo Moreira (Author) FEUP

Conference proceedings International

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

Pages: 4026-4031

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

Vienna, AUSTRIA, NOV 10-14, 2013

Indexing

ISI Web of Knowledge - 17 Citations

Scopus - 24 Citations

Other information

Authenticus ID: 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.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6