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Updated: Mar 7, 2026
06:52
An Inertial Measurement Unit Based Method to Estimate Hip and Knee Joint Kinematics in Team Sport Athletes on the Field
Published on: May 26, 2020
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Inertial and time-of-arrival ranging sensor fusion
Paul Vasilyev1, Sean Pearson1, Mahmoud El-Gohary1
1APDM, Inc., 2828 SW Corbett Avenue, Portland, OR, USA.
Gait & Posture
|March 1, 2017
Summary
This study fused ultra wideband ranging and kinematic sensors to improve human movement tracking. Combining these sensors accurately estimates both orientation and position, outperforming individual sensor capabilities.
Area of Science:
- Biomedical Engineering
- Sensor Fusion
- Human Motion Analysis
Background:
- Wearable devices with kinematic sensors (accelerometers, gyroscopes, magnetometers) track human movement.
- Kinematic sensors estimate orientation but have limited position accuracy over time.
Purpose of the Study:
- To assess the feasibility of fusing ultra wideband (UWB) ranging sensors with kinematic sensors.
- To develop a prototype sensor system for enhanced human motion tracking.
- To improve the accuracy of estimating both orientation and position.
Main Methods:
- Developed a prototype sensor integrating UWB ranging and kinematic sensors.
- Utilized a state-space model for sensor data integration.
- Applied the unscented Kalman filter for sensor fusion.
Main Results:
- Achieved a position root mean square error of 5.2cm.
- Obtained an orientation error of 4.8° over a 15-minute recording.
- Demonstrated reduced error compared to using either sensor technology alone.
Conclusions:
- Fusing UWB ranging and kinematic sensors is feasible for accurate human motion tracking.
- The developed system enhances the estimation of both orientation and position.
- This approach offers improved performance for applications in sports, gaming, medicine, and wellness.
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