웨어러블 디바이스의 고유한 외란에 강건한 수정된 VQF 알고리즘

Abstract

In wearable devices, the inherent disturbance robustness of the IMU has a significant impact on the error. To reduce post-impact distortion in 3D angle estimation, we present a modified VQF algorithm that appropriately changes the cutoff frequency of the low-pass filter processing the acceleration. In experiment, the error is reduced by about 81.4% compared to the original VQF algorithm.