ABSTRACT
In this chapter, the authors propose the addition of three-axis gyroscope measurements to the sensors used (a three-axis accelerometer and a three-axis magnetometer) in bio-logging. They focus on the problem of three-dimensional position estimation of a mobile with pedestrian locomotion (human walking) using a dead reckoning approach. The authors describe the problem statement and motivations for studying motion estimation in the case of the attitude and position in bio-logging. They explain the attitude parameterization and the sensor measurement models used. The authors also detail the structure of the proposed complementary filter for attitude estimation. They present experimental results to illustrate the effectiveness of the proposed algorithm. The authors use quaternion algebra to describe the rigid body attitude. The authors also use a wearable inertial and magnetic microelectromechanical system sensor assembly based on a three-axis accelerometer, a three-axis magnetometer, and a three-axis gyroscope.
