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Implementation of a quaternion-based Kalman filter for human body motion tracking using MARG sensors

Approved for public release; distribution is unlimited / "Human body motion tracking using inertial sensors requires an attitude estimation filter capable of tracking in all orientations. One way to represent orientation is to use Euler angles, but they have singularities and therefore are not suitable for human body tracking applications. Quaternions can be used to represent orientation without incurring singularities. A quaternion-based Kalman filter has been designed for this purpose and implemented in this thesis. Also, a new suboptimal algorithm to compute the quaternions based on magnetometer and accelerometer data is implemented. This new algorithm called "Factored Quaternion Algorithm" is computationally simpler than previous methods and provides a decoupling property from magnetometer and accelerometer data." p. i. / Lieutenant Junior Grade, Mexican Navy

Identiferoai:union.ndltd.org:nps.edu/oai:calhoun.nps.edu:10945/1203
Date09 1900
CreatorsAparicio, Conrado
ContributorsYun, Xiaoping, Cristi, Robert, Naval Postgraduate School (U.S.)., Electrical and Computer Engineering
PublisherMonterey California. Naval Postgraduate School
Source SetsNaval Postgraduate School
Detected LanguageEnglish
TypeThesis
Formatxvi, 61 p. : ill. (some col.) ;, application/pdf
RightsCopyright is reserved by the copyright owner.

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