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A yaw tracking algorithm for head movement from inertial sensors data

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Borowska-Terka A. , Strumiłło P.

Metrology and Measurement Systems

2023

tom Vol. 30, nr 4

737--754

Monitoring head movements is important in many aspects of life from medicine and rehabilitation to sports, and VR entertainment. In this study, we used recordings from two sensors, i.e. an accelerometer and a gyroscope, to calculate the angles of movement of the gesturing person’s head. For the yaw motion, we proposed an original algorithm using only these two inertial sensors and the detected motion type obtained from a pre-trained SVM classifier. The combination of the gyroscope data and the detected motion type allowed us to calculate the yaw angle without the need for other sensors, such as a magnetometer or a video camera. To verify the accuracy of our algorithm, we used a robotic arm that simulated head gestures where the angle values were read out from the robot kinematics. The calculated yaw angles differed from the robot’s readings with a mean absolute error of approx. 1 degree and the rate of differences between these values exceeding 5 degrees was significantly below 1 percent except for one outlier at 1.12%. This level of accuracy is sufficient for many applications, such as VR systems, human-system interfaces, or rehabilitation.

A method for the estimation of sideslip angle for a vehicle equipped with a one-antenna GPS measuring system for steady state movement

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Pieniążek W. , Wolak S. , Janczur R.

tom Vol. 84, nr 2

137--146

One-antenna GPS systems present no possibility for the direct determination of vehicle slip angle. This is an easy task for dual antenna systems; however, many users have this kind of apparatus. In this paper, a method of estimation of this parameter, which is important for the estimation of vehicle steerability factors, is proposed (e.g. TB factor calculated on the basis of data from input test [8]). The method is based on two parameters measured by a one-antenna GPS system; these are the heading angle created from the Doppler channel coming directly from the GPS engine, and the yaw rate measured by an IMU device integrated and cooperating with the GPS engine. The sideslip angle which was calculated according to the proposed method is compared with an equivalent angle calculated on the basis of data from a non-slip measurement of velocity components for selected point of vehicle acquired using. The presented method is illustrated with examples from real tests. In the author’s opinion, the sideslip angle calculated with the application of measurement data obtained from a one-antenna GPS device could be used in practice. From comparison with another upper mentioned method, it follows that the differences between average values of sideslip angles obtained from both considered methods is not greater than 8%.