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WO2009031064A3 - Extracting inertial and gravitational vector components from acceleration measurements - Google Patents

Extracting inertial and gravitational vector components from acceleration measurements Download PDF

Info

Publication number
WO2009031064A3
WO2009031064A3 PCT/IB2008/053399 IB2008053399W WO2009031064A3 WO 2009031064 A3 WO2009031064 A3 WO 2009031064A3 IB 2008053399 W IB2008053399 W IB 2008053399W WO 2009031064 A3 WO2009031064 A3 WO 2009031064A3
Authority
WO
WIPO (PCT)
Prior art keywords
determined
accelerometer
estimate
acceleration
acceleration vector
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/IB2008/053399
Other languages
French (fr)
Other versions
WO2009031064A2 (en
Inventor
Bin Yin
Acht Victor M G Van
Nicolaas Lambert
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Koninklijke Philips NV
Original Assignee
Koninklijke Philips Electronics NV
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Koninklijke Philips Electronics NV filed Critical Koninklijke Philips Electronics NV
Publication of WO2009031064A2 publication Critical patent/WO2009031064A2/en
Publication of WO2009031064A3 publication Critical patent/WO2009031064A3/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
    • A61B5/1126—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb using a particular sensing technique
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/02—Details of sensors specially adapted for in-vivo measurements
    • A61B2562/0219—Inertial sensors, e.g. accelerometers, gyroscopes, tilt switches
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
    • A61B5/1118—Determining activity level
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
    • A61B5/1121—Determining geometric values, e.g. centre of rotation or angular range of movement
    • A61B5/1122—Determining geometric values, e.g. centre of rotation or angular range of movement of movement trajectories

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Pathology (AREA)
  • Surgery (AREA)
  • Dentistry (AREA)
  • Biophysics (AREA)
  • Physiology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
  • User Interface Of Digital Computer (AREA)

Abstract

This invention discloses method of extracting inertial Vi and gravitational Vg acceleration vector components from acceleration vector Va = Vi + Vg measured by an accelerometer when the absolute orientation of the accelerometer coordinate system relative to the earth coordinate system varies over time. A sequence of acceleration readout vectors Va [k] from the accelerometer is received. For a given sampling moment k a temporal estimate (I)g [k] is determined for the gravitational acceleration vector Vg, the temporal estimate being determined in the accelerometer coordinate system using the acceleration readout vectors from the accelerometer. A first estimate for the inertial acceleration vector (II)i [k] is set to zero. A measure of the difference between the readout vector Va [k] and the sum of (I)g [k] + (II)i [k] is determined and a measure of the difference in length between the estimate (II)g [k] and the actual gravitational acceleration vector Vg is determined. If the determined measures do not equal substantially to zero the estimates (II)g [k] and (II)i [k] are replaced by a next improved estimate and above mentioned steps are repeated.
PCT/IB2008/053399 2007-09-03 2008-08-25 Extracting inertial and gravitational vector components from acceleration measurements Ceased WO2009031064A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP07115496 2007-09-03
EP07115496.7 2007-09-03

Publications (2)

Publication Number Publication Date
WO2009031064A2 WO2009031064A2 (en) 2009-03-12
WO2009031064A3 true WO2009031064A3 (en) 2009-07-02

Family

ID=40429472

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2008/053399 Ceased WO2009031064A2 (en) 2007-09-03 2008-08-25 Extracting inertial and gravitational vector components from acceleration measurements

Country Status (2)

Country Link
TW (1) TW200921103A (en)
WO (1) WO2009031064A2 (en)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120209117A1 (en) * 2006-03-08 2012-08-16 Orthosensor, Inc. Surgical Measurement Apparatus and System
TWI419537B (en) * 2009-12-23 2013-12-11 Inventec Appliances Corp A mobile phone for measuring balance and a method of measurement
CN103052353B (en) 2010-08-04 2015-07-08 皇家飞利浦电子股份有限公司 Monitor vital signs during exercise
EP3250124B1 (en) 2015-01-28 2024-05-01 Koninklijke Philips N.V. Device and method for determining and/or monitoring the respiratory effort of a subject
CN106767776A (en) * 2016-11-17 2017-05-31 上海兆芯集成电路有限公司 Mobile device and method for obtaining attitude of mobile device
TWI737237B (en) * 2020-03-25 2021-08-21 國泰醫療財團法人國泰綜合醫院 Measuring system for measuring foot's inertial information
CN111795695B (en) * 2020-05-15 2022-06-03 阿波罗智联(北京)科技有限公司 Position information determining method, device and equipment

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006073219A1 (en) * 2005-01-04 2006-07-13 Healthpia Co., Ltd. Mobile communication terminal having exercise quantity measurement function and method of measuring exercise quantity using the same
US20070173377A1 (en) * 2003-07-09 2007-07-26 Ari Jamsen Method and apparatus for detecting types of exercise
WO2007097324A1 (en) * 2006-02-22 2007-08-30 Sony Corporation Body motion detection device, body motion detection method, and body motion detection program

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070173377A1 (en) * 2003-07-09 2007-07-26 Ari Jamsen Method and apparatus for detecting types of exercise
WO2006073219A1 (en) * 2005-01-04 2006-07-13 Healthpia Co., Ltd. Mobile communication terminal having exercise quantity measurement function and method of measuring exercise quantity using the same
WO2007097324A1 (en) * 2006-02-22 2007-08-30 Sony Corporation Body motion detection device, body motion detection method, and body motion detection program
EP1988492A1 (en) * 2006-02-22 2008-11-05 Sony Corporation Body motion detection device, body motion detection method, and body motion detection program

Also Published As

Publication number Publication date
WO2009031064A2 (en) 2009-03-12
TW200921103A (en) 2009-05-16

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