METHOD AND APPARATUS FOR MOTION TRACKING OF AN ARTICULATED RIGID BODY

摘要

The invention comprises a method of determining an orientation of a sensor, includes measuring a local magnetic field vector (507) and a local gravity vector (509) and using those measurements to determine the orientation of the sensor. Another embodiment comprises measuring a local magnetic field vector (507), a local gravity vector (509), and the angular velocity of the sensor (501). These three vectors are processed to determine the orientation of the sensor. Another embodiment comprises determining a local gravity vector (509) by providing an acceleration detector, moving the detector from a start point to an end point over a time period, and summing acceleration measurements over the time period. The total gravity vector is calculated using the summed acceleration measurements.