TY - GEN
T1 - Study on attitude measurement system for virtual surgery navigation
AU - Hu, Xiaoming
AU - Liu, Yue
AU - Wang, Yongtian
PY - 2006
Y1 - 2006
N2 - A source-less attitude measurement system and robust heading self-calibration method for virtual surgery navigation is presented. The proposed system includes three accelerometers and three magnetometers to measure the gravity field and the geomagnetic filed to calculate the attitude. During the heading calibration procedure, both the magnetic field and gravity field are measured in all three axes with a set of combinations of attitudes. The set of measurements of magnetometer triad are first selected by random sampling consensus (RANSAC), and then are used to fit an ellipsoid to remove the hard iron error, finally the measurements of the magnetometer triad without the hard iron error and the measurements of accelerometer triad are rearranged to a set of equations to solve the soft iron matrix. Compared with other existing calibration method, the proposed calibration method does not require heading reference. Experimental results show the effectiveness of the proposed method and its potential application in virtual surgery navigation.
AB - A source-less attitude measurement system and robust heading self-calibration method for virtual surgery navigation is presented. The proposed system includes three accelerometers and three magnetometers to measure the gravity field and the geomagnetic filed to calculate the attitude. During the heading calibration procedure, both the magnetic field and gravity field are measured in all three axes with a set of combinations of attitudes. The set of measurements of magnetometer triad are first selected by random sampling consensus (RANSAC), and then are used to fit an ellipsoid to remove the hard iron error, finally the measurements of the magnetometer triad without the hard iron error and the measurements of accelerometer triad are rearranged to a set of equations to solve the soft iron matrix. Compared with other existing calibration method, the proposed calibration method does not require heading reference. Experimental results show the effectiveness of the proposed method and its potential application in virtual surgery navigation.
UR - https://www.scopus.com/pages/publications/33745813098
U2 - 10.1007/11736639_156
DO - 10.1007/11736639_156
M3 - Conference contribution
AN - SCOPUS:33745813098
SN - 3540334238
SN - 9783540334231
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 1262
EP - 1267
BT - Technologies for E-Learning and Digital Entertainment - First International Conference, Edutainment 2006, Proceedings
T2 - 1st International Conference on Technologies for E-Learning and Digital Entertainment, Edutainment 2006
Y2 - 16 April 2006 through 19 April 2006
ER -