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Quaternionic Attitude Estimation With Inertial Measuring Unit For Robotic And Human Body Motion Tracking Using Sequential Monte Carlo Methods With Hyper-Dimensional Spherical Distributions, Gary To

Doctoral Dissertations

This dissertation examined the inertial tracking technology for robotics and human tracking applications. This is a multi-discipline research that builds on the embedded system engineering, Bayesian estimation theory, software engineering, directional statistics, and biomedical engineering.

A discussion of the orientation tracking representations and fundamentals of attitude estimation are presented briefly to outline the some of the issues in each approach. In addition, a discussion regarding to inertial tracking sensors gives an insight to the basic science and limitations in each of the sensing components.

An initial experiment was conducted with existing inertial tracker to study the feasibility of using this …