TY - GEN
T1 - Algorithm for estimating the orientation of an object in 3D space, through the optimal fusion of gyroscope and accelerometer information
AU - Contreras-Rodriguez, L. A.
AU - Munoz-Guerrero, R.
AU - Barraza-Madrigal, J. A.
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/11/14
Y1 - 2017/11/14
N2 - Two suitable coordinate systems overlapping at the origin were established to estimate orientation by computing the spatial relationship between them. An Inertial Measurement Unit sensor (IMU), consisting of a tri-axial gyroscope and tri-axial accelerometer was used to define reference systems. This work describes an algorithm to estimate the orientation of an object in 3D space through the optimal fusion of gyroscope and accelerometer information. A tri-axial gyroscope was used as a main source of information for assessing orientation during movement. On the other hand, a tri-axial accelerometer was used to compensate drifting deviation on gyroscope measurements. Orientation estimation was performed by using a Direct Cosine Matrix (DCM) as a combination of three consecutive rotations through one of each main axis to the coordinate systems. Rotation matrices also expressed as approximations rather than identities were used to improving orientation computed through DCM. Three different algorithms were proposed to estimate orientation. For assessing differences between them, two different studies were realized: 1. - analysis of behavior in both static position of the sensor and during moving, 2. - estimation of the orientation of the sensor by representing the orientation of an object through a virtual model. The developed algorithm opens opportunities to be used in the evaluation of human body joints.
AB - Two suitable coordinate systems overlapping at the origin were established to estimate orientation by computing the spatial relationship between them. An Inertial Measurement Unit sensor (IMU), consisting of a tri-axial gyroscope and tri-axial accelerometer was used to define reference systems. This work describes an algorithm to estimate the orientation of an object in 3D space through the optimal fusion of gyroscope and accelerometer information. A tri-axial gyroscope was used as a main source of information for assessing orientation during movement. On the other hand, a tri-axial accelerometer was used to compensate drifting deviation on gyroscope measurements. Orientation estimation was performed by using a Direct Cosine Matrix (DCM) as a combination of three consecutive rotations through one of each main axis to the coordinate systems. Rotation matrices also expressed as approximations rather than identities were used to improving orientation computed through DCM. Three different algorithms were proposed to estimate orientation. For assessing differences between them, two different studies were realized: 1. - analysis of behavior in both static position of the sensor and during moving, 2. - estimation of the orientation of the sensor by representing the orientation of an object through a virtual model. The developed algorithm opens opportunities to be used in the evaluation of human body joints.
KW - Accelerometer
KW - Degrees Of Freedom
KW - Director Cosine Matrix
KW - Gyroscope
KW - IMU
UR - http://www.scopus.com/inward/record.url?scp=85040547140&partnerID=8YFLogxK
U2 - 10.1109/ICEEE.2017.8108879
DO - 10.1109/ICEEE.2017.8108879
M3 - Contribución a la conferencia
AN - SCOPUS:85040547140
T3 - 2017 14th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2017
BT - 2017 14th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 14th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2017
Y2 - 20 September 2017 through 22 September 2017
ER -