Joint Constraints Based Dynamic Calibration of IMU Position on Lower Limbs in IMU-MoCap

The position calibration of inertial measurement units (IMUs) is an important part of human motion capture, especially in wearable systems. In realistic applications, static calibration is quickly invalid during the motions for IMUs loosely mounted on the body. In this paper, we propose a dynamic po...

Descripción completa

Guardado en:

Detalles Bibliográficos
Autores principales:	Qian Hu, Lingfeng Liu, Feng Mei, Changxuan Yang
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	IMU MoCap DWPSO GWO Gauss–Newton joint constraints Chemical technology TP1-1185
Acceso en línea:	https://doaj.org/article/e7e80c4efbb5434eb4836a8db17fe86b
Etiquetas:	Agregar Etiqueta Sin Etiquetas, Sea el primero en etiquetar este registro!

id	oai:doaj.org-article:e7e80c4efbb5434eb4836a8db17fe86b
record_format	dspace
spelling	oai:doaj.org-article:e7e80c4efbb5434eb4836a8db17fe86b2021-11-11T19:09:20ZJoint Constraints Based Dynamic Calibration of IMU Position on Lower Limbs in IMU-MoCap10.3390/s212171611424-8220https://doaj.org/article/e7e80c4efbb5434eb4836a8db17fe86b2021-10-01T00:00:00Zhttps://www.mdpi.com/1424-8220/21/21/7161https://doaj.org/toc/1424-8220The position calibration of inertial measurement units (IMUs) is an important part of human motion capture, especially in wearable systems. In realistic applications, static calibration is quickly invalid during the motions for IMUs loosely mounted on the body. In this paper, we propose a dynamic position calibration algorithm for IMUs mounted on the waist, upper leg, lower leg, and foot based on joint constraints. To solve the problem of IMUs’ position displacement, we introduce the Gauss–Newton (GN) method based on the Jacobian matrix, the dynamic weight particle swarm optimization (DWPSO), and the grey wolf optimizer (GWO) to realize IMUs’ position calibration. Furthermore, we establish the coordinate system of human lower limbs to estimate each joint angle and use the fusion algorithm in the field of quaternions to improve the attitude calibration performance of a single IMU. The performances of these three algorithms are analyzed and evaluated by gait tests on the human body and comparisons with a high-precision IMU-Mocap reference device. The simulation results show that the three algorithms can effectively calibrate the IMU’s position for human lower limbs. Additionally, when the degree of freedom (DOF) of a certain dimension is limited, the performances of the DWPSO and GWO may be better than GN, when the joint changes sufficiently, the performances of the three are close. The results confirm that the dynamic calibration algorithm based on joint constraints can effectively reduce the position offset errors of IMUs on upper or lower limbs in practical applications.Qian HuLingfeng LiuFeng MeiChangxuan YangMDPI AGarticleIMUMoCapDWPSOGWOGauss–Newtonjoint constraintsChemical technologyTP1-1185ENSensors, Vol 21, Iss 7161, p 7161 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	IMU MoCap DWPSO GWO Gauss–Newton joint constraints Chemical technology TP1-1185
spellingShingle	IMU MoCap DWPSO GWO Gauss–Newton joint constraints Chemical technology TP1-1185 Qian Hu Lingfeng Liu Feng Mei Changxuan Yang Joint Constraints Based Dynamic Calibration of IMU Position on Lower Limbs in IMU-MoCap
description	The position calibration of inertial measurement units (IMUs) is an important part of human motion capture, especially in wearable systems. In realistic applications, static calibration is quickly invalid during the motions for IMUs loosely mounted on the body. In this paper, we propose a dynamic position calibration algorithm for IMUs mounted on the waist, upper leg, lower leg, and foot based on joint constraints. To solve the problem of IMUs’ position displacement, we introduce the Gauss–Newton (GN) method based on the Jacobian matrix, the dynamic weight particle swarm optimization (DWPSO), and the grey wolf optimizer (GWO) to realize IMUs’ position calibration. Furthermore, we establish the coordinate system of human lower limbs to estimate each joint angle and use the fusion algorithm in the field of quaternions to improve the attitude calibration performance of a single IMU. The performances of these three algorithms are analyzed and evaluated by gait tests on the human body and comparisons with a high-precision IMU-Mocap reference device. The simulation results show that the three algorithms can effectively calibrate the IMU’s position for human lower limbs. Additionally, when the degree of freedom (DOF) of a certain dimension is limited, the performances of the DWPSO and GWO may be better than GN, when the joint changes sufficiently, the performances of the three are close. The results confirm that the dynamic calibration algorithm based on joint constraints can effectively reduce the position offset errors of IMUs on upper or lower limbs in practical applications.
format	article
author	Qian Hu Lingfeng Liu Feng Mei Changxuan Yang
author_facet	Qian Hu Lingfeng Liu Feng Mei Changxuan Yang
author_sort	Qian Hu
title	Joint Constraints Based Dynamic Calibration of IMU Position on Lower Limbs in IMU-MoCap
title_short	Joint Constraints Based Dynamic Calibration of IMU Position on Lower Limbs in IMU-MoCap
title_full	Joint Constraints Based Dynamic Calibration of IMU Position on Lower Limbs in IMU-MoCap
title_fullStr	Joint Constraints Based Dynamic Calibration of IMU Position on Lower Limbs in IMU-MoCap
title_full_unstemmed	Joint Constraints Based Dynamic Calibration of IMU Position on Lower Limbs in IMU-MoCap
title_sort	joint constraints based dynamic calibration of imu position on lower limbs in imu-mocap
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/e7e80c4efbb5434eb4836a8db17fe86b
work_keys_str_mv	AT qianhu jointconstraintsbaseddynamiccalibrationofimupositiononlowerlimbsinimumocap AT lingfengliu jointconstraintsbaseddynamiccalibrationofimupositiononlowerlimbsinimumocap AT fengmei jointconstraintsbaseddynamiccalibrationofimupositiononlowerlimbsinimumocap AT changxuanyang jointconstraintsbaseddynamiccalibrationofimupositiononlowerlimbsinimumocap
_version_	1718431617881473024

Joint Constraints Based Dynamic Calibration of IMU Position on Lower Limbs in IMU-MoCap

Ejemplares similares