Abstract:For the linear acceleration and magnetic interference that effect on the measurement precision of the attitude, based on the existing inertial measurement unit(IMU), this paper describes a quaternion-based extended Kalman filter designed for real-time estimation of the orientation of arm motion. And proposes an adaptive approach that constructs measurement noise covariance matrix by introducing the predicted measurements of the accelerator and magnetometer with quaternion, combining QUEST algorithms, to determine the degree of dependence of gyroscope, accelerometer and magnetometer output signals, in order to improve the measurement accuracy. At the end of this paper, this method is verified by simulation and experiment, and the comparison of experimental results and the data collected by electromagnetic tracking system, shows that the method proposed in this paper can significantly improve the arm pose measurement accuracy, which can which can meet application requirements effectively.
