Analysis of the Accuracy of Ten Algorithms for Orientation Estimation Using Inertial and Magnetic Sensing under Optimal Conditions: One Size Does Not Fit All

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dc.contributor.authorCaruso, Marco
dc.contributor.authorSabatini, Angelo Maria
dc.contributor.authorLaidig, Daniel
dc.contributor.authorSeel, Thomas
dc.contributor.authorKnaflitz, Marco
dc.contributor.authorDella Croce, Ugo
dc.contributor.authorCereatti, Andrea
dc.date.accessioned2021-05-19T07:23:05Z
dc.date.available2021-05-19T07:23:05Z
dc.date.issued2021-04-05
dc.date.updated2021-05-03T15:01:43Z
dc.description.abstractThe 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 default parameter values are used. Overall, when optimally tuned, no statistically significant differences 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.en
dc.description.sponsorshipEC/H2020/820820/EU/Connecting digital mobility assessment to clinical outcomes for regulatory and clinical endorsement/MOBILISE-Den
dc.identifier.eissn1424-8220
dc.identifier.urihttps://depositonce.tu-berlin.de/handle/11303/13129
dc.identifier.urihttp://dx.doi.org/10.14279/depositonce-11923
dc.language.isoenen
dc.rights.urihttps://creativecommons.org/licenses/by/4.0/en
dc.subject.ddc620 Ingenieurwissenschaften und zugeordnete Tätigkeitende
dc.subject.otherMIMUen
dc.subject.otherorientation estimationen
dc.subject.otherfilter parametersen
dc.subject.otherfilter comparisonen
dc.subject.otherwearable sensorsen
dc.subject.othersensor fusionen
dc.subject.otherhuman motionen
dc.subject.otherKalman filtersen
dc.subject.othercomplementary filtersen
dc.subject.otheroptimal parametersen
dc.titleAnalysis of the Accuracy of Ten Algorithms for Orientation Estimation Using Inertial and Magnetic Sensing under Optimal Conditions: One Size Does Not Fit Allen
dc.typeArticleen
dc.type.versionpublishedVersionen
dcterms.bibliographicCitation.articlenumber2543en
dcterms.bibliographicCitation.doi10.3390/s21072543en
dcterms.bibliographicCitation.issue7en
dcterms.bibliographicCitation.journaltitleSensorsen
dcterms.bibliographicCitation.originalpublishernameMDPIen
dcterms.bibliographicCitation.originalpublisherplaceBaselen
dcterms.bibliographicCitation.volume21en
tub.accessrights.dnbfreeen
tub.affiliationFak. 4 Elektrotechnik und Informatik::Inst. Energie- und Automatisierungstechnik::FG Regelungssystemede
tub.affiliation.facultyFak. 4 Elektrotechnik und Informatikde
tub.affiliation.groupFG Regelungssystemede
tub.affiliation.instituteInst. Energie- und Automatisierungstechnikde
tub.publisher.universityorinstitutionTechnische Universität Berlinen

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