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Accuracy of the Orientation Estimate Obtained Using Four Sensor Fusion Filters Applied to Recordings of Magneto-Inertial Sensors Moving at Three Rotation Rates

CARUSO, MARCO; SABATINI, ANGELO M; KNAFLITZ, MARCO; GAZZONI, MARCO; Della Croce, U; CEREATTI, ANDREA


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{
  "inLanguage": {
    "alternateName": "eng", 
    "@type": "Language", 
    "name": "English"
  }, 
  "description": "<p>Abstract</p>\n\n<p>Magneto-Inertial technology is a well-established alternative to optical motion capture for human...&nbsp;motion analysis applications since it allows prolonged monitoring in free-living conditions. Magneto and Inertial Measurement Units (MIMUs) integrate a triaxial accelerometer, a triaxial gyroscope and a triaxial magnetometer in a single and lightweight device. The orientation of the body to which a MIMU is attached can be obtained by combining its sensor readings within a sensor fusion framework. Despite several sensor fusion implementations have been proposed, no well-established conclusion about the accuracy level achievable with MIMUs has been reached yet. The aim of this preliminary study was to perform a direct comparison among four popular sensor fusion algorithms applied to the recordings of MIMUs rotating at three different rotation rates, with the orientation provided by a stereophotogrammetric system used as a reference. A procedure for suboptimal determination of the parameter filter values was also proposed. The findings highlighted that all filters exhibited reasonable accuracy (rms errors &lt; 6.4&deg;). Moreover, in accordance with previous studies, every algorithm&#39;s accuracy worsened as the rotation rate increased. At the highest rotation rate, the algorithm from Sabatini (2011) showed the best performance with errors smaller than 4.1&deg; rms.</p>\n\n<p>This work was supported by the Mobilise-D project, that has received funding from the Innovative Medicines Initiative 2 Joint Undertaking under grant agreement No. 820820. This Joint Undertaking receives support from the European Union&#39;s Horizon 2020 research and innovation program and the European Federation of Pharmaceutical Industries and Associations (EFPIA). Content in this publication reflects the authors&rsquo; view and neither IMI nor the European Union, EFPIA, or any Associated Partners are responsible for any use that may be made of the information contained herein.</p>", 
  "license": "https://creativecommons.org/licenses/by/4.0/legalcode", 
  "creator": [
    {
      "affiliation": "Departments of Electronics and Telecommunications, Politecnico di Torino, Torino, Italy", 
      "@type": "Person", 
      "name": "CARUSO, MARCO"
    }, 
    {
      "affiliation": "The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy (", 
      "@type": "Person", 
      "name": "SABATINI, ANGELO M"
    }, 
    {
      "affiliation": "Departments of Electronics and Telecommunications, Politecnico di Torino, Torino, Italy", 
      "@type": "Person", 
      "name": "KNAFLITZ, MARCO"
    }, 
    {
      "affiliation": "Departments of Electronics and Telecommunications, Politecnico di Torino, Torino, Italy", 
      "@type": "Person", 
      "name": "GAZZONI, MARCO"
    }, 
    {
      "affiliation": "Department of Biomedical Sciences, Universit\u00e0 di Sassari, Sassari, Italy", 
      "@type": "Person", 
      "name": "Della Croce, U"
    }, 
    {
      "affiliation": "Department of Biomedical Sciences, Universit\u00e0 di Sassari, Sassari, Italy", 
      "@type": "Person", 
      "name": "CEREATTI, ANDREA"
    }
  ], 
  "headline": "Accuracy of the Orientation Estimate Obtained Using Four Sensor Fusion Filters Applied to Recordings of Magneto-Inertial Sensors Moving at Three Rotation Rates", 
  "image": "https://zenodo.org/static/img/logos/zenodo-gradient-round.svg", 
  "datePublished": "2019-10-07", 
  "url": "https://zenodo.org/record/5165218", 
  "@type": "ScholarlyArticle", 
  "keywords": [
    "Accelerometers ,", 
    "Magnetic sensors", 
    "Gyroscopes"
  ], 
  "@context": "https://schema.org/", 
  "identifier": "https://doi.org/10.1109/embc.2019.8857655", 
  "@id": "https://doi.org/10.1109/embc.2019.8857655", 
  "workFeatured": {
    "url": "https://ieeexplore.ieee.org/abstract/document/8857655", 
    "location": "Berlin, Germany", 
    "@type": "Event", 
    "name": "2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)"
  }, 
  "name": "Accuracy of the Orientation Estimate Obtained Using Four Sensor Fusion Filters Applied to Recordings of Magneto-Inertial Sensors Moving at Three Rotation Rates"
}
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