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Real-Time Body Orientation Estimation Based on Two-Layer Stochastic Filter Architecture

Josip Musić orcid id orcid.org/0000-0002-9185-5762 ; Fakultet elektrotehnike, strojarstva i brodogradnje Sveučilišta u Splitu, Split, Hrvatska
Mojmil Cecić ; Fakultet elektrotehnike, strojarstva i brodogradnje Sveučilišta u Splitu, Split, Hrvatska
Vlasta Zanchi ; Fakultet elektrotehnike, strojarstva i brodogradnje Sveučilišta u Splitu, Split, Hrvatska


Puni tekst: hrvatski pdf 1.382 Kb

str. 264-274

preuzimanja: 622

citiraj


Sažetak

The article presents real time rigid body orientation estimation using inertial and magnetic sensors. Based on the review of orientation estimation literature we suggest, as possible alternative to standard approaches, novel two-layer stochastic estimation filter architecture based on Kalman and particle filters combined into two layers. Two-layer architecture was chosen because it enables greater applicability via upgrade of already implemented Kalman or particle filters. Four two-layer filter architectures were designed, each one enabling different layer interaction. Estimation of human head orientation was chosen as a case example. Simulated data and batch head orientation measurement data were used to test the proposed architectures in terms of accuracy and computational efficiency and to select the best one in terms of aforementioned performance parameters. Selected architecture was then implemented in real time for human-computer interaction and was tested on several practical applications. Obtained results are presented and discussed and future research directions suggested.

Ključne riječi

Estimation; Orientation; Kalman filter; Particle filter; Two-layer architecture

Hrčak ID:

61549

URI

https://hrcak.srce.hr/61549

Datum izdavanja:

30.9.2010.

Podaci na drugim jezicima: hrvatski

Posjeta: 1.406 *