抄録
In motion measurement, a measurement method using 9 axis sensor is attracting attention in that they are less expensive, convenient and less restrictive in measurement area than optical motion capture system. We focused on the motion information in the relative coordinate system and proposed and verified the Kalman filter algorithm that estimates the 3D body posture with high accuracy by correcting the drift error of the gyrosensor using the acceleration. In this study, we proposed an axis alignment correction algorithm assuming that the reference coordinate axis and the relative coordinate axis are aligned by performing specified motion which rotates along a fixed axis before measurement. Therefore, we verified the algorithm by using reference experimental system constructed by optical motion capture and reference motion device which have one degree-of-freedom for rotation with a rotary encoder. As a result, it was found that the correction was made at all angles, and it was possible to find the possibility that the axis alignment can be successfully corrected by using the proposed algorithm.
