JOURNAL BROWSE
Search
Advanced SearchSearch Tips
Multi-Attitude Heading Reference System-based Motion-Tracking and Localization of a Person/Walking Robot
facebook(new window)  Pirnt(new window) E-mail(new window) Excel Download
 Title & Authors
Multi-Attitude Heading Reference System-based Motion-Tracking and Localization of a Person/Walking Robot
Cho, Seong Yun;
 
 Abstract
An Inertial Measurement Unit (IMU)-based Attitude and Heading Reference System (AHRS) can calculate attitude and heading information with long-term accuracy and stability by combining gyro, accelerometer, and magnetic compass signals. Motivated by this characteristic of the AHRS, this paper presents a Motion-Tracking and Localization (MTL) method for a person or walking robot using multi-AHRSs. Five AHRSs are attached to the two calves, two thighs, and waist of a person/walking robot. Joints, links, and coordinate frames are defined on the body. The outputs of the AHRSs are integrated with link data. In addition, a supporting foot is distinguished from a moving foot. With this information, the locations of the joints on the local coordinate frame are calculated. The experimental results show that the presented MTL method can track the motion of and localize a person/walking robot with long-term accuracy in an infra-less environment.
 Keywords
IMU;AHRS;motion-tracking;localization;
 Language
Korean
 Cited by
 References
1.
S. Y. Cho, "Implementation technology for localising a group of mobile nodes in a mobile wireless sensor network," Journal of Navigation, vol. 67, no. 6, pp. 1089-1108, Nov. 2014. crossref(new window)

2.
S. Y. Cho and C. G. Park, "MEMS based pedestrian navigation system," Journal of Navigation, vol. 59, no. 1, pp. 135-153, Jan. 2006.

3.
S. Y. Cho, "IM-filter for INS/GPS-integrated navigation system containing low-cost gyros," IEEE Trans. Aerospace and Electronic Systems, vol. 50, no. 4, pp. 2619-2629, Oct. 2014.

4.
S. M. Seong, "A cooperative navigation for UAVs with inertial sensors and passive sensor using wireless communication," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 19, no. 2, pp. 102-106, Feb. 2013.

5.
G. W. Yoon, J. B. Kim, and B. K. Kim, "An efficient urban outdoor localization and navigation system car car-like mobile robots," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 19, no. 8, pp. 745-754, Aug. 2013. crossref(new window)

6.
J. Y. Shim and H. K. Lee, "An amplitude modulated spread spectrum ultrasonic location system," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 12, no. 10, pp. 996-1001, Oct. 2006.

7.
S. Y. Cho, "Localization of the arbitrary deployed APs for indoor wireless location-based applications," IEEE Trans. Consumer Electronics, vol. 56, no. 2, pp. 532-539, May 2010. crossref(new window)

8.
S. N. Heo and J. M. Lee, "Predictive control of an efficient human following robot using Kinect sensor," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 20, no. 9, pp. 957-963, Sep. 2014.

9.
J. Y. Kim and S. Y. Lee, "Estimation of the user's location/posture for mobile augmented reality," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 18, no. 11, pp. 1011-1017, Nov. 2012.

10.
J. A. Farrell and M. Barth, The Global Positioning System & Inertial Navigation, McGraw-Hill, 1999.

11.
J. J. Craig, Introduction to Robotics: Mechanics and Control, Addison-Wesley Publishing Company, 1986.

12.
https://www.xsens.com.

13.
http://www.xbox.com/ko-KR/kinect.

14.
S. Y. Cho, "Biaxial accelerometer-based magnetic compass module calibration and analysis of azimuth computational errors caused by accelerometer errors," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 20, no. 2, pp. 149-156, Feb. 2014.

15.
Y. H. Kim, "Application of fuzzy theory to mixing algorithm for attitude computation of underwater vehicle," Ph.D. Dissertation, Seoul National University, 1995.

16.
J. N. Lim, "Design of Attitude Estimation System for Micro Aerial Vehicle," M.S. Thesis, Seoul National University, 2006.