Sensory Fusion of Magnetoinertial Data Based on Kinematic Model With Jacobian Weighted-Left-Pseudoinverse and Kalman-Adaptive Gains
IEEE Transactions on Instrumentation and Measurement（2019）
Abstract
This paper presents a sensory fusion method for estimation of joint angles of serial kinematic chains with rotational degrees of freedom based on magnetoinertial measurements-Magnetoinertial tracking based on JAcobian PseudoInverse (MIJAPI). The concept takes into account the mechanism kinematic model, and the computation relies on the differential kinematics inversion (inverse kinematics solution...
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Key words
Jacobian matrices,Kinematics,Kalman filters,Tracking,Robot sensing systems
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