Journal of Sensor Science and Technology (센서학회지)

The Korean Sensors Society (한국센서학회)
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Comparison between Two Coordinate Transformation-Based Orientation Alignment Methods

좌표변환 기반의 두 자세 정렬 기법 비교

  • Lee, Jung-Keun (Department of Mechanical Engineering, Hankyong National Unversity) ;
  • Jung, Woo-Chang (Department of Mechanical Engineering, Hankyong National Unversity)
  • Received : 2018.10.19
  • Accepted : 2019.01.18
  • Published : 2019.01.31
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Abstract

Inertial measurement units (IMUs) are widely used for wearable motion-capturing systems in the fields of biomechanics and robotics. When the IMUs are combined with optical motion sensors (hereafter, OPTs) for their complementary capabilities, it is necessary to align the coordinate system orientations between the IMU and OPT. In this study, we compare the application of two coordinate transformation-based orientation alignment methods between two coordinate systems. The first method (M1) applies angular velocity coordinate transformation, while the other method (M2) applies gyroscopic angle coordinate transformation. In M1 and M2, the angular velocities and angles, respectively, are acquired during random movement for a least-square algorithm to determine the alignment matrix between the two coordinate systems. The performance of each method is evaluated under various conditions according to the type of motion during measurement, number of data points, amount of noise, and the alignment matrix. The results show that M1 is free from drift errors, while drift errors are present in most cases where M2 is applied. Thus, this study indicates that M1 has a far superior performance than M2 for the alignment of IMU and OPT coordinate systems for motion analysis.

Keywords

HSSHBT_2019_v28n1_30_f0001.png 이미지

Fig. 1. Comparison of estimation errors between M1(using angular velocities) and M2(using angles) for $^{OPT}_{IMU}R_1$ : (a) Test 1 and (b) Test 2.

HSSHBT_2019_v28n1_30_f0002.png 이미지

Fig. 2. Comparison of estimation errors between Test 1 and Test 2 for $^{OPT}_{IMU}R_1$ : (a) M1(using angular velocities) and (b) M2(using angles)

HSSHBT_2019_v28n1_30_f0003.png 이미지

Fig. 3. OPT and IMU reference frames attached to a rigid body and their fixed frames.

Table 1. Estimation errors of alignment matrix for $^{OPT}_{IMU}R_1$ (M1 / M2).

HSSHBT_2019_v28n1_30_t0001.png 이미지

Table 2. Estimation errors of alignment matrix for $^{OPT}_{IMU}R_1$ (M1 / M2).

HSSHBT_2019_v28n1_30_t0002.png 이미지

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