TY  - STD
AU  - Fourati, H.
PY  - 2010//
TI  - An Efficient Body segment posture Tracking Fusing Magnetic and Inertial Sensing: An Observer-based Approach with Multiplicative Quaternion Correction. The 11th international conference onSciences and Techniques of Automatic control & computer engineering. December 19-21, 2010, Monastir, Tunisia.
N2  - This paper concerns body attitude (orientation) estimation for free ranging animal. This work is applied in Bio-logging, an interdisciplinary research area at the intersection of animal behavior and bioengineering. The main idea of the proposed approach combines a quaternion-based sliding modeobserver with a Levenberg Marquardt Algorithm (LMA) and exploits measurements from Micro-Electro-Mechanical-System (MEMS) sensors as a 3-axis accelerometer, a 3-axis magnetometer and a 3-axis gyroscope to produce attitude estimates during the entire range of the observed animal’s bodymovements. By considering the rigid-body dynamics expressed in quaternion representation, a Complementary Sliding Mode Observer (CSMO) is derived taking advantages from strap-down inertial measurement from gyroscope and vector observations from accelerometer and magnetometer to provide accurate attitude estimates. The efficiency of the proposed approach is showed with a setof experiments through sensor measurements provided by an Inertial Measurement Unit (IMU
N1  - exported from refbase (http://publi.ipev.fr/polar_references/show.php?record=515), last updated on Sun, 28 Jul 2024 00:24:55 +0200
ID  - Fourati2010
ER  -