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Lecture11 IMU Motion Tracking 32fff653 9c39 4a6e Acdb 69d57bc32dfd

The document discusses motion tracking using Inertial Measurement Unit (IMU) sensors, which include accelerometers, gyroscopes, and magnetometers. It outlines the complexities of tracking a drone's trajectory, particularly when accounting for rotation and the accumulation of error over time. The document also presents methods for determining 3D orientation using accelerometer and magnetometer data, as well as gyroscope data, and suggests a combined approach for improved accuracy.

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1 views

Lecture11 IMU Motion Tracking 32fff653 9c39 4a6e Acdb 69d57bc32dfd

The document discusses motion tracking using Inertial Measurement Unit (IMU) sensors, which include accelerometers, gyroscopes, and magnetometers. It outlines the complexities of tracking a drone's trajectory, particularly when accounting for rotation and the accumulation of error over time. The document also presents methods for determining 3D orientation using accelerometer and magnetometer data, as well as gyroscope data, and suggests a combined approach for improved accuracy.

Uploaded by

philosophicalvirus18
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Motion Tracking using IMU sensors

Amitangshu Pal
IMU Sensors
IMU Sensors

Accelerometer Gyroscope Magnetometer


(measures (measures (measures earth
acceleration) angular velocity) magnetic field)

Install Physics Toolbox Sensor Suite in your smartphone


IMU Sensors

https://www.99science.com/what-is-the-accelerometer-used-for-in-mobile-devices/
Motion Tracking Applications

https://www.mdpi.com/2072-4292/4/6/1519/htm
https://www.nature.com/articles/s41467-020-19424-2
https://www.semanticscholar.org/paper/Reviews-on-Various-Inertial-Measurement-Unit-(IMU)-Ahmad-
Ghazilla/4e189da5f9798a2a1caabd3dfb96ff794768a625
Motion Tracking Problem Formulation
 Suppose we want to track the trajectory of a drone from its IMU data

Initial 𝑥0
position 𝑦0
𝑧0
𝑥𝑡
Algorithm 𝑦𝑡
𝑧𝑡

IMU
data
𝑎𝑥 𝑔𝑥 𝑚𝑥
Accel = 𝑎𝑦 Gyro = 𝑔𝑦 Mag = 𝑚𝑦
𝑎𝑧 𝑔𝑧 𝑚𝑧

Let’ see why this problem is so complicated


Simple Case: No Rotation
𝑡 𝑡 𝑡 𝑡
𝑣𝑥 = න 𝑎𝑥 . 𝑑𝑡 𝑑𝑥 = න 𝑣𝑥 . 𝑑𝑡 → 𝑑𝑥 = න න 𝑎𝑥 . 𝑑𝑡
0 0 0 0

Initial 𝑥0
position 𝑦0
𝑧0
𝑥0 𝑥𝑡
𝑦0 +‫ 𝑥𝑎 𝑡׬ 𝑡׬‬. 𝑑𝑡 𝑦𝑡
0 0
𝑧0 𝑧𝑡

IMU
data
Simple Case: No Rotation
𝑡 𝑡 𝑡
𝑡
𝑣𝑥 = න 𝑎𝑥 . 𝑑𝑡 𝑑𝑥 = න 𝑣𝑥 . 𝑑𝑡 → 𝑑𝑥 = න න 𝑎𝑥 . 𝑑𝑡
0 0 0
0

𝑡 𝑡
𝑑𝑥 = න න (𝑎𝑥 +𝑛𝑜𝑖𝑠𝑒) . 𝑑𝑡
0 0

Error accumulates over time

Accelerometer values are mixed with gravity

https://www.semanticscholar.org/paper/AI-IMU-Dead-Reckoning-Brossard-
Barrau/c80a0c6fcdadc1afe848d7089a314192897f3ab1
What if the Motion Includes Rotation also?
Let’s model rotation using 𝐴𝑥 = 𝑏 form

1 0 0
Y: Y: X:
0 1 90° Y: −1 1
90°
0 0
X: 1
−1 X:
0

cos 90° − sin 90° 0 1 1 0


=
sin 90° cos 90° −1 0 0 1

cos 90° − sin 90° 1 0 0 −1


=
sin 90° cos 90° 0 1 1 0
Mapping Local Coordinate to Global Coordinate
 So whatever acceleration values we are getting is w.r.t. the
IMU’s local coordinate system
 How to map it to the global coordinate system?

 Let’s first assume that we know the IMU orientation w.r.t


the global axis

𝑥𝐺 cos 𝜃 − sin 𝜃 𝑥𝑠
𝑦𝐺 = 𝑦𝑠
sin 𝜃 cos 𝜃
𝜽
What if the Motion Includes Rotation also?

For 3D the rotation


matrix is

𝑅 = 𝑅𝑥 𝛼 𝑅𝑦 𝛽 𝑅𝑧 𝛾

cos 𝛼 cos 𝛽 cos 𝛼 sin 𝛽 sin 𝛾 − sin 𝛼 cos 𝛾 cos 𝛼 sin 𝛽 cos 𝛾 + sin 𝛼 sin 𝛾
= cos 𝛼 cos 𝛽 sin 𝛼 sin 𝛽 sin 𝛾 + cos 𝛼 cos 𝛾 sin 𝛼 sin 𝛽 cos 𝛾 − cos 𝛼 sin 𝛾
−sin𝛽 cos 𝛽 sin 𝛾 cos 𝛽 cos 𝛾

But how to find out the IMU orientation


w.r.t. the global coordinate?
How to Get The 3d Orientation?
 Method1: Using accelerometer and magnetometer

Measures Measures
acceleration magnetic north

 What rotation is needed so that


 Gravity is along the z axis

 Magnetic north is along the y axis?

3𝑥3 𝑎𝑥 𝑚𝑥 0 0
𝑟𝑜𝑡𝑎𝑡𝑖𝑜𝑛 𝑎𝑦 𝑚𝑦 = 0 𝑀
𝑚𝑎𝑡𝑟𝑖𝑥 𝑎𝑧 𝑚𝑧 9.8 0

Works well when the IMU is static


When object is moving  gravity measurement is polluted with acceleration
How to Get The 3d Orientation?
 Method2: Using gyroscope
 Assume that we know the initial orientation

𝑡
𝜃𝑡 = 𝜃𝑡−1 + න 𝜔𝑡 . 𝑑𝑡
0

𝑡
𝜃𝑡 = 𝜃𝑡−1 + න (𝜔𝑡 + 𝑛𝑜𝑖𝑠𝑒) . 𝑑𝑡
0

Error accumulates over time

https://www.researchgate.net/figure/Drift-data-of-a-gyroscope-within-a-period-
of-time_fig5_305485580
Overall Algorithm
 Someone can use a mixture of Method1 and Method2
 While static give preference to Method1
 While moving give preference to Method2

𝑥0 𝑥𝑡
𝑦0 + 𝑦𝑡
𝑧0 𝑧𝑡
𝑡 𝑡
IMU IMU
3D orientation න න 𝑎 . 𝑑𝑡
data (Global) 0 0 𝑥
Path Estimation Error Accumulation
Our Experimental Outcome

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