Machine Learning to Improve Orientation Estimation in Sports Situations Challenging for Inertial Sensor Use

In sports, inertial measurement units are often used to measure the orientation of human body segments. A Madgwick (MW) filter can be used to obtain accurate inertial measurement unit (IMU) orientation estimates. This filter combines two different orientation estimates by applying a correction of the (1) gyroscope-based estimate in the...

On attitude representations for optimization-based Bayesian smoothing

This paper presents a study of the behavior of seven different attitude representations in a batchwise orientation smoothing problem. The representations include the well-known unit quaternions and rotation vectors(/axis-angle), as well as modified Rodrigues parameters (MRPs). We consider error states as well as direct orientation formulations...