Human Motion Analysis with Wearable Inertial Sensors——閱讀3
Human Motion Analysis with Wearable Inertial Sensors——閱讀3
四元數方向濾波器
之前的研究開發了一種自適應增益互補濾波器,並結合高斯 - 牛頓優化算法來確定陀螺儀測量誤差的方向。應用具有自適應測量向量和參考矢量的磁場選擇方案,可以顯著降低嚴重磁場畸變和高動態運動的影響,以提高過濾器的性能。陀螺儀偏置的精確估計然後補償瞬時陀螺儀測量,而不管快速移動或磁性失真。
鑒於基於四元數的旋轉表示法的優越性:與歐拉角相比,組合和避免奇點的問題更簡單;與旋轉矩陣相比,它更具數值穩定性,更有效。四元素Rq的矢量形式如下:
其中i,j和k是四元數的基元,q0是標量的組成部分,
考慮式子(2.1),其對應的旋轉參數如下:
表示旋轉的單位軸,是旋轉的角度。
Human Motion Analysis with Wearable Inertial Sensors——閱讀3
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