|제목(국문)||초음파센서와 관성센서를 이용한 발의 움직임 추적 시스템|
|제목(영문)||Foot Movement Tracking System using Ultrasonic Sensors and Inertial Sensors|
(Jang Hun Boo
박상경 (Sang Kyeong Park ,Ulsan University ) ▷공저자네트워크등록하기
서영수 (Young Soo Suh ,Ulsan University ) ▷공저자네트워크등록하기
This paper presents a foot movement tracking system using ultrasonic sensors and inertial sensors, where the position and velocity of foot computed using inertial sensors and ultrasonic sensors mounted on a shoe. A foot movement can be estimated using an inertial navigation algorithm only; however, the error tends to increase due to biases of gyroscopes and accelerometers. To reduce the error, a localization system using ultrasonic sensors is additionally used. In the localization system using ultrasonic sensors, the position is continuously calculated in the absolute coordinate. An indirect Kalman filter is used to combine inertial sensors and ultrasonic sensors. Through experiments, it is shown that the proposed system can track a foot movement.
|keyword||ultrasonic sensors, inertial sensors, motion tracking, Kalman filter, inertial navigation algorithm|