B-34 慣性センサ・地磁気センサを用いたスポーツにおける運動計測に関する研究(計測・システム1)

Abstract

This paper proposes the new motion measurement method in sports using the motion measurement system installed inertial and magnetic field sensors. This system provides tri-axis angular velocity, tri-axis acceleration and tri-axis magnetic field. Introducing the sensor fusion algorithm using adaptive Kalman filter, the effect of magnetic disturbance is compensated. Furthermore, the advanced sensor fusion algorithm is constructed using quaternion to enable motion measurement in wide range of motion. In order to confirm the accuracy of proposed measurement methods, we compared the value obtained by the proposed methods with the value of encoder. It is found that these methods provide the accurate value in the motion analysis in the space with magnetic disturbance and in wide range of motion. Consequently, the proposed methods in this paper can be used to the motion analysis in various sports.