Lätt tillgängliga sensorer ger oändliga möjligheter

Transcription

1 REGLERTEKNIK AUTOMATIC CONTROL Lätt tillgängliga sensorer ger oändliga möjligheter Position and orientation estimation using inertial sensors Manon Kok Automatic Control, Linköping University, Sweden April 22nd 2015

2 Inertial sensors Accelerometers Gyroscopes Magnetometers Inertial sensors Inertial sensors and magnetometers give information about the position and orientation of the sensor. Manon Kok Fängslande Forskning April 22nd / 13

3 Research objective Use inertial sensors in combination with other sensors and different models to determine position and orientation. Manon Kok Fängslande Forskning April 22nd / 13

4 Research objective Use inertial sensors in combination with other sensors and different models to determine position and orientation. Find good models for the sensor signals and the specific application. Manon Kok Fängslande Forskning April 22nd / 13

5 Research objective Use inertial sensors in combination with other sensors and different models to determine position and orientation. Find good models for the sensor signals and the specific application. Find a good way to combine this knowledge, taking into account uncertainty in the models and measurements. Manon Kok Fängslande Forskning April 22nd / 13

6 Example 1: Inertial motion capture 17 sensors placed on the body Courtesy of Xsens Technologies Manon Kok Fängslande Forskning April 22nd / 13

7 Example 1: Inertial motion capture Use only inertial sensors Courtesy of Xsens Technologies Manon Kok Fängslande Forskning April 22nd / 13

8 Example 1: Inertial motion capture Use inertial sensors + a biomechanical model Courtesy of Xsens Technologies Manon Kok Fängslande Forskning April 22nd / 13

9 Example 1: Inertial motion capture Use inertial sensors + a biomechanical model + a world model Courtesy of Xsens Technologies Manon Kok Fängslande Forskning April 22nd / 13

10 Applications of inertial motion capture Courtesy of Xsens Technologies Manon Kok Fängslande Forskning April 22nd / 13

11 Applications of inertial motion capture Courtesy of Xsens Technologies Manon Kok Fängslande Forskning April 22nd / 13

12 Applications of inertial motion capture Courtesy of Xsens Technologies Manon Kok Fängslande Forskning April 22nd / 13

13 Example 2: Indoor positioning using magnetometers For indoor positioning we can not use GPS. Instead, we want to use information from the indoor magnetic field. Manon Kok Fängslande Forskning April 22nd / 13

14 Example 2: Indoor positioning using magnetometers For indoor positioning we can not use GPS. Instead, we want to use information from the indoor magnetic field. Manon Kok Fängslande Forskning April 22nd / 13

15 Example 2: Indoor positioning using magnetometers For indoor positioning we can not use GPS. Instead, we want to use information from the indoor magnetic field. Manon Kok Fängslande Forskning April 22nd / 13

16 Example 2: Indoor positioning using magnetometers Manon Kok Fängslande Forskning April 22nd / 13

17 Example 2: Indoor positioning using magnetometers Manon Kok Fängslande Forskning April 22nd / 13

18 Applications of indoor positioning Finding your way inside a building... Manon Kok Fängslande Forskning April 22nd / 13

19 Applications of indoor positioning Finding your way inside a building... this is for instance important for firemen. Manon Kok Fängslande Forskning April 22nd / 13

20 Summary Position and orientation estimation using inertial sensors. Manon Kok Fängslande Forskning April 22nd / 13

21 Summary Position and orientation estimation using inertial sensors. Example 1: Using inertial sensors together with biomechanical and world models for motion capture. Example 2: Using magnetic field measurements for indoor positioning. Manon Kok Fängslande Forskning April 22nd / 13

22 Thank you for your attention! Questions? Manon Kok Fängslande Forskning April 22nd / 13

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