Position tracking using inertial and magnetic sensing aided by permanent magnet

被引：0
|
作者：
Meina, Michal [1 ]
Rykaczewski, Krzysztof [2 ]
Rutkowski, Andrzej [2 ]
机构：
[1] Nicolaus Copernicus Univ, Fac Phys Astron & Inf, Dept Informat, Grudziadzka 5, PL-87100 Torun, Poland
[2] Nicolaus Copernicus Univ, Fac Math & Comp Sci, Chopina 12-18, PL-87100 Torun, Poland
来源：
PROCEEDINGS OF THE 2016 FEDERATED CONFERENCE ON COMPUTER SCIENCE AND INFORMATION SYSTEMS (FEDCSIS) | 2016年 / 8卷
关键词：
D O I：
10.15439/2016F513
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper describes a method for spatial tracking of a strapdown device that can be used for design of human computer interfaces. Inertial Measurement Unit (IMU) is used to obtain 6-dof position exploiting the so-called ZUPT technique by the means of the Kalman Filter. Additional corrections of position are done using magnetometer readings in the presence of static magnetic field induced by permanent magnet that overshadow geomagnetic field. This correction allows us to overcome drifting errors of integration of IMU readings. We have also presented comparisons of different models for magnetic field reconstruction that is crucial for this system.
引用
收藏
页码：105 / 111
页数：7
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