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Publication
Quaternion-based AHRS with MEMS Motion Sensor for Biomedical Applications
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| 3.59 MB | Adobe PDF |
Authors
Advisor(s)
Abstract(s)
This work presents relevant theoretical and practical
aspects towards the design of a quaternion-based real-time
Attitude and Heading Reference System (AHRS). The motion
sensor used in this work is the TDK InvenSense MPU-9250
9-degree (gyro + accelerometer + compass) Microelectromechan ical system. Results show that the AHRS developed device is
“gimbal lock” immune, given that the 3D rotations are per formed in quaternions. The tiny electronic device allows real-time transmission of the 3D orientation and can be used as an
AHRS solution for medical, sports science, rehabilitation and
assistive technology. The contribution of this paper is a theoretical
methodology and a practical implementation of an AHRS device
for Biomedical applications.
Description
Trabalho apresentado em IEEE IBITeC2021 (International Biomedical Instrumentation and Technology Conference), 20-21 outubro 2021, online
Keywords
Microelectromechanical sensors Biomedical Engineering devices Quaternions