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Quaternion based attitude estimation algorithm applied to signals from body-mounted gyroscopes

Quaternion based attitude estimation algorithm applied to signals from body-mounted gyroscopes

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An application of inertial sensing to gait analysis is described: the attitude estimation algorithm computes the attitude quaternion associated with a body part, i.e. the foot instep moving in the inertial space, by employing a spherical linear interpolation procedure to compensate for the errors due to the influence of the gyroscope bias. The effectiveness of the approach is demonstrated by simulations.

Inspec keywords: estimation theory; Monte Carlo methods; attitude measurement; gait analysis; gyroscopes

Other keywords: gait analysis; inertial sensing; spherical linear interpolation procedure; body mounted gyroscopes; quaternion based attitude estimation algorithm; inertial space; gyroscope bias

Subjects: Spatial variables measurement; Spatial variables measurement; Physics of body movements; Probability theory, stochastic processes, and statistics; Monte Carlo methods; Other mechanical instruments and techniques

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      • J.B.J. Bussmann , P.H. Veltink , F. Koelma , R.C. Van Lummel , H.J. Stam . Ambulatory monitoring of mobility-related activities: the initial phase of the development of an activity monitor. Eur. J. Phys. Med. Rehab. , 2 - 7
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