Article

Article title INTEGRATION OF INERTIAL MEASUREMENT UNIT AND MOTION CAPTURE SYSTEM INDICATIONS
Authors A.N. Bobylev, P.A. Kruchinin, V.A. Chertopolokhov
Section SECTION II. MEDICAL DIAGNOSTICS AND THERAPY
Month, Year 10, 2014 @en
Index UDC 531.15:612.087
DOI
Abstract In this study we consider the identification of positional relationship parameters for inertial unit and motion capture system axes fixed on a solid body. This problem is topical with creation of hardware-software complexes of joint data processing of human motion capture and inertial sensors in biomechanics. It is supposed that the motion capture system markers and the inertial sensor block are fixed on a human limb modeled by a rigid body. The "calibration" interval of measurements with active motion of body part is used to identify spatial relation parameters of the sensors sensitivity axes for inertial unit and motion capture system markers. The mathematical model equations using kinematic equations for combined motion and integrating different measurement systems indications are given. Both fixed and random errors of sensors measurements are included in this model. The parameter identification algorithm based on iterative least squares method and the technique of estimation measures is suggested. The algorithm has been tested experimentally using the model imitating the described situation. The accuracy of the problem solution to define the mutual orientation matrix components was corresponded to spin displacement of 3 degrees.

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Keywords Mathematical model; motion capture system; inertial unit.
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