慣性・地磁気センサを用いたあん馬・旋回動作の姿勢推定に関する研究

抄録

This paper proposes an estimation method of 3D posture in a double-leg circle on a pommel horse using an inertial and magnetic field sensor. A motion of double-leg circle on a pommel horse is conducted mainly 2-axis rotational motion, and the motion is kept the spinning. The singular value problem is generated in the Euler angle-based 3D posture estimation. Therefore, we established the 3D posture estimation method using the two pair quaternion. This method estimates the quaternion about roll and pitch angles and the one about yaw angle. Furthermore, we conducted the Lissajous waveform drawing using the information of 3D posture information. The estimation method can avoid the singular value problem, and it is not necessary for estimating the quaternion about yaw angle to use diagonal angle. Hence, the estimation method of 3D posture can be used for sports performance analysis by using inertial and magnetic field sensor.