| 摘要 |
A method is disclosed for measuring the motion of an object, composed of multiple segments connected by joints, via the estimation of the 3D orientation of the object segments relative to one another without dependence on a magnetic field as a reference for heading. The method includes first applying a plurality of inertial sensor units to the segments of the object, e.g., a user thigh, shank, foot, etc. Next an approximation of the distance between each inertial sensor unit and at least one adjacent joint is provided and the joint is subjected to an acceleration, e.g., as the user takes a step or two. The relative orientations of the segments are calculated and the orientations are used to form an estimation of the 3D orientation of the object segments relative to one another without using the local magnetic field as a reference for heading. |
