Separation of gravitational acceleration from acceleration of human motion using quaternion based Unscented Kalman filter

Abstract

This paper describes a method for separation of the acceleration due to gravity from the motion acceleration measurement obtained with the use of the inertial MEMS sensors. The proposed method is based on the fusion of gyroscope and accelerometer measurements. The quaternion based Unscented Kalman filter is used for the fusion of the measured data and the estimation of the sensor orientation. For the demonstration of the described method are used data recorded during runner training.