Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Performance Improvement of an AHRS for Motion Capture

모션 캡쳐를 위한 AHRS의 성능 향상

  • Kim, Min-Kyoung (Department of Electronics Engineering, Chungnam National University) ;
  • Kim, Tae Yeon (Department of Electronics Engineering, Chungnam National University) ;
  • Lyou, Joon (Department of Electronics Engineering, Chungnam National University)
  • 김민경 (충남대학교 전자공학과) ;
  • 김태연 (충남대학교 전자공학과) ;
  • 유준 (충남대학교 전자공학과)
  • Received : 2015.07.02
  • Accepted : 2015.11.03
  • Published : 2015.12.01
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Abstract

This paper describes the implementation of wearable AHRS for an electromagnetic motion capture system that can trace and analyze human motion on the principal nine axes of inertial sensors. The module provides a three-dimensional (3D) attitude and heading angles combining MEMS gyroscopes, accelerometers, and magnetometers based on the extended Kalman filter, and transmits the motion data to the 3D simulation via Wi-Fi to realize the unrestrained movement in open spaces. In particular, the accelerometer in AHRS is supposed to measure only the acceleration of gravity, but when a sensor moves with an external linear acceleration, the estimated linear acceleration could compensate the accelerometer data in order to improve the precision of measuring gravity direction. In addition, when an AHRS is attached in an arbitrary position of the human body, the compensation of the axis of rotation could improve the accuracy of the motion capture system.

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References

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