Quaternion-based AHRS with MEMS Motion Sensor for Biomedical Applications

Rui Azevedo Antunes; Luis Brito Palma

doi:10.1109/IBITeC53045.2021.9649165

Quaternion-based AHRS with MEMS Motion Sensor for Biomedical Applications

Rui Azevedo Antunes, Luis Brito Palma

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Citations (Scopus)

Abstract

This work presents relevant theoretical and practical aspects towards the design of a quaternion-based real-time Attitude and Heading Reference System (AHRS). The motion sensor used in this work is the TDK InvenSense MPU-9250 9-degree (gyro + accelerometer + compass) Microelectromechanical system. Results show that the AHRS developed device is 'gimbal lock' immune, given that the 3D rotations are performed in quaternions. The tiny electronic device allows real-time transmission of the 3D orientation and can be used as an AHRS solution for medical, sports science, rehabilitation and assistive technology. The contribution of this paper is a theoretical methodology and a practical implementation of an AHRS device for Biomedical applications.

Original language	English
Title of host publication	2021 IEEE International Biomedical Instrumentation and Technology Conference: The Improvement of Healthcare Technology to Achieve Universal Health Coverage, IBITeC 2021
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	1-6
Number of pages	6
ISBN (Electronic)	9781665441797
DOIs	https://doi.org/10.1109/IBITeC53045.2021.9649165
Publication status	Published - 2021
Event	2nd IEEE International Biomedical Instrumentation and Technology Conference, IBITeC 2021 - Virtual, Online, Indonesia Duration: 20 Oct 2021 → 21 Oct 2021

Conference

Conference	2nd IEEE International Biomedical Instrumentation and Technology Conference, IBITeC 2021
Country/Territory	Indonesia
City	Virtual, Online
Period	20/10/21 → 21/10/21

Keywords

Biomedical Engineering devices
Microelectromechanical sensors
Quaternions

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1109/IBITeC53045.2021.9649165

Cite this

Antunes, R. A., & Palma, L. B. (2021). Quaternion-based AHRS with MEMS Motion Sensor for Biomedical Applications. In 2021 IEEE International Biomedical Instrumentation and Technology Conference: The Improvement of Healthcare Technology to Achieve Universal Health Coverage, IBITeC 2021 (pp. 1-6). Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/IBITeC53045.2021.9649165

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title = "Quaternion-based AHRS with MEMS Motion Sensor for Biomedical Applications",

abstract = "This work presents relevant theoretical and practical aspects towards the design of a quaternion-based real-time Attitude and Heading Reference System (AHRS). The motion sensor used in this work is the TDK InvenSense MPU-9250 9-degree (gyro + accelerometer + compass) Microelectromechanical system. Results show that the AHRS developed device is 'gimbal lock' immune, given that the 3D rotations are performed in quaternions. The tiny electronic device allows real-time transmission of the 3D orientation and can be used as an AHRS solution for medical, sports science, rehabilitation and assistive technology. The contribution of this paper is a theoretical methodology and a practical implementation of an AHRS device for Biomedical applications. ",

keywords = "Biomedical Engineering devices, Microelectromechanical sensors, Quaternions",

author = "Antunes, {Rui Azevedo} and Palma, {Luis Brito}",

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doi = "10.1109/IBITeC53045.2021.9649165",

language = "English",

pages = "1--6",

booktitle = "2021 IEEE International Biomedical Instrumentation and Technology Conference: The Improvement of Healthcare Technology to Achieve Universal Health Coverage, IBITeC 2021",

publisher = "Institute of Electrical and Electronics Engineers (IEEE)",

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Antunes, RA & Palma, LB 2021, Quaternion-based AHRS with MEMS Motion Sensor for Biomedical Applications. in 2021 IEEE International Biomedical Instrumentation and Technology Conference: The Improvement of Healthcare Technology to Achieve Universal Health Coverage, IBITeC 2021. Institute of Electrical and Electronics Engineers (IEEE), pp. 1-6, 2nd IEEE International Biomedical Instrumentation and Technology Conference, IBITeC 2021, Virtual, Online, Indonesia, 20/10/21. https://doi.org/10.1109/IBITeC53045.2021.9649165

Quaternion-based AHRS with MEMS Motion Sensor for Biomedical Applications. / Antunes, Rui Azevedo ; Palma, Luis Brito.
2021 IEEE International Biomedical Instrumentation and Technology Conference: The Improvement of Healthcare Technology to Achieve Universal Health Coverage, IBITeC 2021. Institute of Electrical and Electronics Engineers (IEEE), 2021. p. 1-6.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Antunes, Rui Azevedo

AU - Palma, Luis Brito

PY - 2021

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N2 - This work presents relevant theoretical and practical aspects towards the design of a quaternion-based real-time Attitude and Heading Reference System (AHRS). The motion sensor used in this work is the TDK InvenSense MPU-9250 9-degree (gyro + accelerometer + compass) Microelectromechanical system. Results show that the AHRS developed device is 'gimbal lock' immune, given that the 3D rotations are performed in quaternions. The tiny electronic device allows real-time transmission of the 3D orientation and can be used as an AHRS solution for medical, sports science, rehabilitation and assistive technology. The contribution of this paper is a theoretical methodology and a practical implementation of an AHRS device for Biomedical applications.

AB - This work presents relevant theoretical and practical aspects towards the design of a quaternion-based real-time Attitude and Heading Reference System (AHRS). The motion sensor used in this work is the TDK InvenSense MPU-9250 9-degree (gyro + accelerometer + compass) Microelectromechanical system. Results show that the AHRS developed device is 'gimbal lock' immune, given that the 3D rotations are performed in quaternions. The tiny electronic device allows real-time transmission of the 3D orientation and can be used as an AHRS solution for medical, sports science, rehabilitation and assistive technology. The contribution of this paper is a theoretical methodology and a practical implementation of an AHRS device for Biomedical applications.

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KW - Microelectromechanical sensors

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BT - 2021 IEEE International Biomedical Instrumentation and Technology Conference: The Improvement of Healthcare Technology to Achieve Universal Health Coverage, IBITeC 2021

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Antunes RA , Palma LB. Quaternion-based AHRS with MEMS Motion Sensor for Biomedical Applications. In 2021 IEEE International Biomedical Instrumentation and Technology Conference: The Improvement of Healthcare Technology to Achieve Universal Health Coverage, IBITeC 2021. Institute of Electrical and Electronics Engineers (IEEE). 2021. p. 1-6 doi: 10.1109/IBITeC53045.2021.9649165

Quaternion-based AHRS with MEMS Motion Sensor for Biomedical Applications

Abstract

Conference

Keywords

UN SDGs

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