• 主题
高级搜索  >
历史搜索 清空历史
首页> 美国卫生研究院文献>Sensors (Basel Switzerland) >Position Tracking During Human Walking Using an Integrated Wearable Sensing System
【2h】

Position Tracking During Human Walking Using an Integrated Wearable Sensing System

机译：使用集成的可穿戴传感系统在人类行走过程中进行位置跟踪

代理获取
本网站仅为用户提供外文OA文献查询和代理获取服务，本网站没有原文。下单后我们将采用程序或人工为您竭诚获取高质量的原文，但由于OA文献来源多样且变更频繁，仍可能出现获取不到、文献不完整或与标题不符等情况，如果获取不到我们将提供退款服务。请知悉。
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

Progress has been made enabling expensive, high-end inertial measurement units (IMUs) to be used as tracking sensors. However, the cost of these IMUs is prohibitive to their widespread use, and hence the potential of low-cost IMUs is investigated in this study. A wearable low-cost sensing system consisting of IMUs and ultrasound sensors was developed. Core to this system is an extended Kalman filter (EKF), which provides both zero-velocity updates (ZUPTs) and Heuristic Drift Reduction (HDR). The IMU data was combined with ultrasound range measurements to improve accuracy. When a map of the environment was available, a particle filter was used to impose constraints on the possible user motions. The system was therefore composed of three subsystems: IMUs, ultrasound sensors, and a particle filter. A Vicon motion capture system was used to provide ground truth information, enabling validation of the sensing system. Using only the IMU, the system showed loop misclosure errors of 1% with a maximum error of 4–5% during walking. The addition of the ultrasound sensors resulted in a 15% reduction in the total accumulated error. Lastly, the particle filter was capable of providing noticeable corrections, which could keep the tracking error below 2% after the first few steps.
机译：已经取得了进步，可以将昂贵的高端惯性测量单元（IMU）用作跟踪传感器。但是，这些IMU的成本限制了它们的广泛使用，因此，本研究调查了低成本IMU的潜力。开发了一种由IMU和超声传感器组成的可穿戴低成本传感系统。该系统的核心是扩展的卡尔曼滤波器（EKF），它既提供零速度更新（ZUPT），又提供启发式漂移减少（HDR）。将IMU数据与超声测距结合起来以提高准确性。当环境图可用时，将使用粒子过滤器对可能的用户运动施加约束。因此，该系统由三个子系统组成：IMU，超声传感器和粒子过滤器。 Vicon运动捕捉系统用于提供地面真相信息，从而可以验证传感系统。仅使用IMU，系统在行走过程中显示出1％的环路闭合错误，最大误差为4–5％。超声波传感器的添加使总累积误差降低了15％。最后，粒子过滤器能够提供引人注目的校正，在最初的几个步骤之后，可使跟踪误差保持在2％以下。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
代理获取

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号