Minimum-Order Kalman Filter With Vector Selector for Accurate Estimation of Human Body Orientation

@article{Lee2009MinimumOrderKF,
  title={Minimum-Order Kalman Filter With Vector Selector for Accurate Estimation of Human Body Orientation},
  author={Jung-Keun Lee and Edward J. Park},
  journal={IEEE Transactions on Robotics},
  year={2009},
  volume={25},
  pages={1196-1201}
}
This paper describes a new quaternion-based Kalman filter (KF) for estimating human body orientation using an inertial/magnetic sensor. The proposed algorithm is comprised of a quaternion measurement step and a KF step that are connected in feedback relationship. This allows the algorithm to have a minimum-order structure (i.e., fourth order) that is computationally very efficient. Furthermore, to offer more reliable information to the quaternion measurement step, a vector selector scheme is… CONTINUE READING
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