Implementation and Experimental Results of a Quaternion-Based Kalman Filter for Human Body Motion Tracking

Xiaoping Yun Xiaoping Yun,E.R Bachmann,R.B Mcghee,C Aparicio

doi:10.1109/robot.2005.1570138

Xiaoping Yun Xiaoping Yun, E.R Bachmann + Show 2 more

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https://doi.org/10.1109/robot.2005.1570138

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Publication Date: Apr 18, 2005
Citations: 87	License type: public-domain

Affiliation: Naval Postgraduate School, Miami University

Abstract

A human body motion tracking system based on use of the MARG (Magnetic, Angular Rate, and Gravity) sensors has been under development at the Naval Postgraduate School and Miami University. The design of a quaternion-based Kalman filter for processing the MARG sensor data was described in [1]. This paper presents the real-time implementation and testing results of the quaternion-based Kalman filter. Experimental results validate the Kalman filter design, and show the feasibility of the MARG sensors for real-time human body motion tracking.

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