A fast Gauss-Newton optimizer for estimating human body orientation
- Resource Type
- Conference
- Authors
- Lee, Jung Keun; Park, Edward J.
- Source
- 2008 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society Engineering in Medicine and Biology Society, 2008. EMBS 2008. 30th Annual International Conference of the IEEE. :1679-1682 Aug, 2008
- Subject
- Bioengineering
Magnetometers
Quaternions
Magnetic field measurement
Magnetic sensors
Accelerometers
Magnetic fields
- Language
- ISSN
- 1094-687X
1558-4615
This paper presents a quaternion-based Gauss-Newton optimizer for tracking human body orientation using inertial/magnetic sensors. Since a computationally efficient and robust algorithm for estimating orientation is critical for low-cost and real-time ambulatory purposes, the optimizer is formulated using a virtual rotation concept in order to decrease the computing time. In addition, to guard against the effects of fast body motions and temporary ferromagnetic disturbances, a situational measurement vector selection procedure is adopted in conjunction with the Gauss-Newton optimizer.