A low-cost motion tracker and its error analysis

Wei Dong, Yong Lim Kwang, Koon Goh Young, Doang Nguyen Kim, I. Ming Chen, Huat Yeo Song, Been Lirn Duh

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

28 Citations (Scopus)


This paper develops a physical model of an inertial/magnetic measurement unit by effectively integrating an accelerometer, a magnetometer, and two gyroscopes for lowg motion tracking applications. The proposed model breaks down the errors contributed by individual components, then determines error elimination methods based on sensor behavior and characteristics, and finally constructs a feedback loop for continuous self-calibration. Measurement errors are reduced by adopting a systematic design methodology: 1) tilt errors are minimized through a careful selection of A/D convertor resolution and by making compensation on sensor bias and scale factor; 2) heading errors are reduced by cancelling out nearby ferrous distortions and making tilt-compensation on the magnetometer; 3) errors from gyroscope measurements are eliminated via the least squares algorithm and continuous corrections using orientation data at the steady-state position. Preliminary tests for low-g motion sensing show that the motion tracker can achieve less than ±0.5° accuracy in tilt and less than ±1° accuracy in yaw angle measurement with above-mentioned methods.

Original languageEnglish
Title of host publication2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Number of pages6
Publication statusPublished - 2008
Externally publishedYes
Event2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States
Duration: 19 May 200823 May 2008

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729


Conference2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Country/TerritoryUnited States
CityPasadena, CA

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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