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Quaternion based attitude estimation algorithm applied to signals from body-mounted gyroscopes

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1 Author(s)
Sabatini, A.M. ; Scuola Superiore Sant''Anna, Pisa, Italy

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.

Published in:

Electronics Letters  (Volume:40 ,  Issue: 10 )