Human Body Orientation Tracking System Using Inertial and Magnetic Sensors

관성 센서와 지자계 센서를 사용한 인체 방향 추적 시스템

  • Choi, H.R. (Department of Healthcare Engineering, Chonbuk National Univ.) ;
  • Ryu, M.H. (Division of Biomedical Engineering, Chonbuk National Univ.) ;
  • Yang, Y.S. (Division of Biomedical Engineering, Chonbuk National Univ.)
  • 최호림 (전북대학교 헬스케어공학과) ;
  • 유문호 (전북대학교 바이오메디컬공학부) ;
  • 양윤석 (전북대학교 바이오메디컬공학부)
  • Received : 2010.11.19
  • Accepted : 2011.03.04
  • Published : 2011.04.30


This study proposes a human body orientation tracking system by inertial and earth magnetic sensors. These sensors were fused by indirect Kalman filter. The proposed tracking system was configured and the filter was implemented. The tracking performance was evaluated with static and dynamic tests. In static test, the sensor was fixed on the floor while its static characteristics was analyzed. In dynamic test, the sensor was held and moved manually for 30 seconds. The dynamic test included x, y, z axis rotations, and elbow flection/extension motions that mimic drinking. For these dynamic motions, the tracking angle error was under $4.1^{\circ}$ on average. The proposed tracking method is expected to be useful for various human body motion analysis.



Supported by : 한국연구재단, 한국학술진흥재단


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