Estimating orientation with gyroscopes and accelerometers

摘要: Many systems for recording human movement need some reference from beacons near the subject, such as video cameras. Our goal is to measure kinematics with sensors that are placed on segments of interest. This way, experiments in which recorded not restricted a lab. Our inertial sensor-unit consists little box three miniature gyroscopes (Murata ENC05E) and linear accelerometers (AD xl05) 3D angular velocity acceleration, respectively. Both gyroscope accelerometer signals contain information about orientation sensor. The sensor can be obtained by integration [1]. operation introduces drift estimated orientation. Accelerometers do only acceleration sensor, but also gravitational vector. component has bigger magnitude many movements always points downwards. knowledge used make an estimation tilt. tilt angle between axes vertical. very precise does suffer drift. The abstract describes way fuse both (gyroscopes accelerometers) obtain estimate accurate limited drift.