Journal article Open Access

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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    <subfield code="a">Accuracy of the Orientation Estimate Obtained Using Four Sensor Fusion Filters Applied to Recordings of Magneto-Inertial Sensors Moving at Three Rotation Rates</subfield>
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    <subfield code="a">&lt;p&gt;Abstract&lt;/p&gt;

&lt;p&gt;Magneto-Inertial technology is a well-established alternative to optical motion capture for human...&amp;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 &amp;lt; 6.4&amp;deg;). Moreover, in accordance with previous studies, every algorithm&amp;#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&amp;deg; rms.&lt;/p&gt;

&lt;p&gt;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&amp;#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&amp;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.&lt;/p&gt;</subfield>
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