Chapter 17 Rigid Body Motion Capturing by Means of Wearable Inertial and Magnetic MEMS Sensor Assembly: Towards the Reconstitution of the Posture of Free-Ranging Animals in Bio-Logging - Novel Advances in Microsystems Technologies and Their Applications [Book]

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17	Rigid Body Motion Capturing by Means of Wearable Inertial and Magnetic MEMS Sensor Assembly Towards the Reconstitution of the Posture of Free-Ranging Animals in Bio-Logging Hassen Fourati, Noureddine Manamanni, Lissan Afilal and Yves Handrich

CONTENTS

17.1 Introduction

17.2 Motivation and Problem Formulation

17.3 Materials and Methods

17.3.1 Rigid Body Attitude and Coordinate Systems

17.3.2 Mathematical Model of Attitude Representation

17.3.3 3-Axis Inertial/Magnetic Sensor Package Measurement Models

17.3.3.1 3-Axis Magnetometer

17.3.3.2 3-Axis Magnetometer

17.3.3.3 3-Axis Gyroscope

17.4 Complementary Filter for Attitude Estimation

17.4.1 Rigid Body Kinematic Motion Equation

17.4.2 Design of State Model ...

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