Motion-adaptive duty-cycling to estimate orientation using inertial sensors. Derungs, A.; Lin, H.; Harms, H.; and Amft, O. In ACOMORE 2014: IEEE International Conference on Pervasive Computing and Communications Workshops, of PerCom Workshops, pages 47--54, 2014. IEEE. 1st Symposium on Activity and Context Modeling and Recognitiondoi abstract bibtex We present a motion-adaptive duty-cycling approach to estimate orientation using inertial sensors. In particular, we deploy a proportional forward-controller to adjust the duty-cycle of inertial sensing units~(IMU) and the orientation estimation update rate of an extended Kalman filter~(EKF). In sample data recordings and a simulated daily life dataset from a wrist-worn IMU, we show that our motion-adaptive approach incurs substantially lower errors that a static duty-cycling approach. During phases with low or no rotation motion, as it is often occurring in daily activities, our approach can dynamically reduce the IMU operation to 20% of the regular rate. Results show that duty-cycles of 50% are common during low-wrist rotation activities, such as reading and typing, while orientation error is below 1$\degree$. We further show the power saving benefits of our approach in a case study of the ETHOS IMU device.
@InProceedings{Derungs2014-P_ACOMORE,
Title = {Motion-adaptive duty-cycling to estimate orientation using inertial sensors},
Author = {Adrian Derungs and Han Lin and Holger Harms and Oliver Amft},
Booktitle = {ACOMORE 2014: IEEE International Conference on Pervasive Computing and Communications Workshops},
Year = {2014},
Note = {1st Symposium on Activity and Context Modeling and Recognition},
Pages = {47--54},
Publisher = {IEEE},
Series = {PerCom Workshops},
Abstract = {We present a motion-adaptive duty-cycling approach to estimate orientation using inertial sensors. In particular, we deploy a proportional forward-controller to adjust the duty-cycle of inertial sensing units~(IMU) and the orientation estimation update rate of an extended Kalman filter~(EKF). In sample data recordings and a simulated daily life dataset from a wrist-worn IMU, we show that our motion-adaptive approach incurs substantially lower errors that a static duty-cycling approach. During phases with low or no rotation motion, as it is often occurring in daily activities, our approach can dynamically reduce the IMU operation to 20\% of the regular rate. Results show that duty-cycles of 50\% are common during low-wrist rotation activities, such as reading and typing, while orientation error is below 1$\degree$. We further show the power saving benefits of our approach in a case study of the ETHOS IMU device.},
Doi = {10.1109/PerComW.2014.6815163},
File = {Derungs2014-P_ACOMORE.pdf:Derungs2014-P_ACOMORE.pdf:PDF},
Owner = {oamft},
Timestamp = {2013/12/24}
}