Quaternion based attitude estimation algorithm applied to signals from body-mounted gyroscopes
- 1 January 2004
- journal article
- Published by Institution of Engineering and Technology (IET) in Electronics Letters
- Vol. 40 (10), 584-586
- https://doi.org/10.1049/el:20040401
Abstract
An application of inertial sensing to gait analysis is described: the attitude estimation algorithm computes the attitude quaternion associated with a body part, i.e. the foot instep moving in the inertial space, by employing a spherical linear interpolation procedure to compensate for the errors due to the influence of the gyroscope bias. The effectiveness of the approach is demonstrated by simulations.Keywords
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