Analysis of the accuracy of ten algorithms for orientation estimation using inertial and magnetic sensing under optimal conditions: One size does not fit all

Publikation: Beitrag in FachzeitschriftArtikelForschungPeer-Review

Autoren

  • Marco Caruso
  • Angelo Maria Sabatini
  • Daniel Laidig
  • Thomas Seel
  • Marco Knaflitz
  • Ugo Della Croce
  • Andrea Cereatti

Externe Organisationen

  • Politecnico di Torino (POLITO)
  • Scuola Superiore Sant'Anna di Studi Universitari e di Perfezionamento
  • Technische Universität Berlin
  • University of Sassari
Forschungs-netzwerk anzeigen

Details

OriginalspracheEnglisch
Aufsatznummer2543
FachzeitschriftSensors
Jahrgang21
Ausgabenummer7
PublikationsstatusVeröffentlicht - 1 Apr. 2021
Extern publiziertJa

Abstract

The orientation of a magneto and inertial measurement unit (MIMU) is estimated by means of sensor fusion algorithms (SFAs) thus enabling human motion tracking. However, despite several SFAs implementations proposed over the last decades, there is still a lack of consensus about the best performing SFAs and their accuracy. As suggested by recent literature, the filter parameters play a central role in determining the orientation errors. The aim of this work is to analyze the accuracy of ten SFAs while running under the best possible conditions (i.e., their parameter values are set using the orientation reference) in nine experimental scenarios including three rotation rates and three commercial products. The main finding is that parameter values must be specific for each SFA according to the experimental scenario to avoid errors comparable to those obtained when the de-fault parameter values are used. Overall, when optimally tuned, no statistically significant differ-ences are observed among the different SFAs in all tested experimental scenarios and the absolute errors are included between 3.8 deg and 7.1 deg. Increasing the rotation rate generally leads to a significant performance worsening. Errors are also influenced by the MIMU commercial model. SFA MATLAB implementations have been made available online.

ASJC Scopus Sachgebiete

Zitieren

Analysis of the accuracy of ten algorithms for orientation estimation using inertial and magnetic sensing under optimal conditions: One size does not fit all. / Caruso, Marco; Sabatini, Angelo Maria; Laidig, Daniel et al.
in: Sensors, Jahrgang 21, Nr. 7, 2543, 01.04.2021.

Publikation: Beitrag in FachzeitschriftArtikelForschungPeer-Review

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abstract = "The orientation of a magneto and inertial measurement unit (MIMU) is estimated by means of sensor fusion algorithms (SFAs) thus enabling human motion tracking. However, despite several SFAs implementations proposed over the last decades, there is still a lack of consensus about the best performing SFAs and their accuracy. As suggested by recent literature, the filter parameters play a central role in determining the orientation errors. The aim of this work is to analyze the accuracy of ten SFAs while running under the best possible conditions (i.e., their parameter values are set using the orientation reference) in nine experimental scenarios including three rotation rates and three commercial products. The main finding is that parameter values must be specific for each SFA according to the experimental scenario to avoid errors comparable to those obtained when the de-fault parameter values are used. Overall, when optimally tuned, no statistically significant differ-ences are observed among the different SFAs in all tested experimental scenarios and the absolute errors are included between 3.8 deg and 7.1 deg. Increasing the rotation rate generally leads to a significant performance worsening. Errors are also influenced by the MIMU commercial model. SFA MATLAB implementations have been made available online.",
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author = "Marco Caruso and Sabatini, {Angelo Maria} and Daniel Laidig and Thomas Seel and Marco Knaflitz and Croce, {Ugo Della} and Andrea Cereatti",
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T1 - Analysis of the accuracy of ten algorithms for orientation estimation using inertial and magnetic sensing under optimal conditions

T2 - One size does not fit all

AU - Caruso, Marco

AU - Sabatini, Angelo Maria

AU - Laidig, Daniel

AU - Seel, Thomas

AU - Knaflitz, Marco

AU - Croce, Ugo Della

AU - Cereatti, Andrea

N1 - Funding Information: This research was partially funded by DoMoMEA grant, Sardegna Ricerche POR FESR 2014/2020 and by MOBILISE-D grant, Innovative Medicines Initiative 2 Joint Undertaking under grant agreement No 820820. This Joint Undertaking receives support from the European Union’s Horizon 2020 research and innovation programme and EFPIA. www.imi.europa.eu.

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Y1 - 2021/4/1

N2 - The orientation of a magneto and inertial measurement unit (MIMU) is estimated by means of sensor fusion algorithms (SFAs) thus enabling human motion tracking. However, despite several SFAs implementations proposed over the last decades, there is still a lack of consensus about the best performing SFAs and their accuracy. As suggested by recent literature, the filter parameters play a central role in determining the orientation errors. The aim of this work is to analyze the accuracy of ten SFAs while running under the best possible conditions (i.e., their parameter values are set using the orientation reference) in nine experimental scenarios including three rotation rates and three commercial products. The main finding is that parameter values must be specific for each SFA according to the experimental scenario to avoid errors comparable to those obtained when the de-fault parameter values are used. Overall, when optimally tuned, no statistically significant differ-ences are observed among the different SFAs in all tested experimental scenarios and the absolute errors are included between 3.8 deg and 7.1 deg. Increasing the rotation rate generally leads to a significant performance worsening. Errors are also influenced by the MIMU commercial model. SFA MATLAB implementations have been made available online.

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