Compensation of magnetic disturbances improves inertial and magnetic sensing of human body segment orientation

@article{Roetenberg2005CompensationOM,
  title={Compensation of magnetic disturbances improves inertial and magnetic sensing of human body segment orientation},
  author={Daniel Roetenberg and H. J. Luinge and C. Baten and P. H. Veltink},
  journal={IEEE Transactions on Neural Systems and Rehabilitation Engineering},
  year={2005},
  volume={13},
  pages={395-405}
}
This paper describes a complementary Kalman filter design to estimate orientation of human body segments by fusing gyroscope, accelerometer, and magnetometer signals from miniature sensors. Ferromagnetic materials or other magnetic fields near the sensor module disturb the local earth magnetic field and, therefore, the orientation estimation, which impedes many (ambulatory) applications. In the filter, the gyroscope bias error, orientation error, and magnetic disturbance error are estimated… CONTINUE READING

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