Conference PaperPDF Available

On Data Fusion for Orientation Sensing in WBASNs using Smart Phones

  • March 2015
DOI:10.1109/AINA.2015.222
  • Conference: IEEE 29th International Conference on Advanced Information Networking and Applications (AINA 2015), Korea.
Authors:
Danish Mahmood at Shaheed Zulfikar Ali Bhutto Institute of Science and Technology, Islamabad Campus
Danish Mahmood
Nadeem Javaid
Nadeem Javaid
Nadeem Javaid
  • This person is not on ResearchGate, or hasn't claimed this research yet.
Muhammad Imran at BUIC
Muhammad Imran
  • BUIC
Zahoor Ali Khan at Higher Colleges of Technology
Zahoor Ali Khan
Show all 6 authorsHide
Download full-text PDF
Read full-text
Download citation

Abstract

Orientation sensing is not a new concept. It is being used since ages however, with emergence of new technologies such as Wireless Body Area Sensor Networks (WBASNs), it gives new challenges. Commencement of smart phones that have built in orientation sensors are replacing expensive and complex Inertial Measurement Units (IMUs) designed for a specific purpose. Orientation sensing in WBASN have numerous applications. In e-health applications, rehabilitation investigation of backbone injuries can be measured by continues readings of posture. For that, gyroscopes and accelerometers are key sensors that play vital role. For machines such as robots and air crafts, such data fusion is in practice. However, considering human body movements yet there is a need to find an accurate fusion algorithm that meets all demands with low complexity. In this work, we discussed and compared two algorithms considering Wireless Body Area Sensor Fusion (WBASF) i.e. Kalman and Complementary data fusion techniques. According to our find-ings, Kalman Filter may have given very good results regarding machines however, Complementary filter proved itself better in performance, complexity and required computational power in WBASNs.
Content uploaded by Danish Mahmood
Author content
All content in this area was uploaded by Danish Mahmood on Oct 18, 2016
Content may be subject to copyright.
      
   
   ,,∗  
! " #$ % &'  "
( ) (*    *+", "- .
(* (*    *+", "- .
(""  ( #  %, /,  -
$( 0 (""  *+", 1 () %2
'%,  "- "- (
∗333414+ 15+44). 4156)4
$EVWUDFW         
         
     ! " #   
 $       
    %  % 
& ' "&'#    ( 
       
)     !
*        
+      !  
   +       
      ,  
        (   
       %  
!       
    + "+#  - 
$   .    ()
 - +       
  $ (    
 %  .   
 
,QGH[ 7HUPV- $ / + )
    !
4 */%(*
 3"  3.    ))"+
  +  ")4 ( , 
3 "" )+ )3    
 -   -   4  
 ",      " ,
  3. 784 * 3.  ",
))"  6" "4 *    
  -   -,   
"4   -    "  ),+
"  )+-4   )   6
+  +""  ",9  "  )+",4
 -    +",  
  4  ",9 3  + "
- -"4 3   +""   
"4
* ++)      34   -+"", 
)+    +:   +
    "  +)" )+   
   , )  4     -".  
+   +    "
    :",  ,    3+ +
+   - 4 *  )",  " 
+:  ;+   <6=>4 03 +
   + " ", )3 
+)" +4 *   +:  
 +)" + 3 )+ ,  - ))"+-"
 + + 3 3  "3 +)" )3
 + 4 + .  : . + 
)  ",  ?   " - "
,  ") 3 "  4
  3. 3 +  ",9 3   
+: 44 #"  ()",   
+? 3 " ,    78
4  ;" ) "  ++  +)6
   "4 ++   " +
 -,  +)", ;"   )6
)" 3 )+  #" ;"    )"+,
 +++,4
4 /2** 2@
  +,   "" + 
"",  -+   )+4 "", 3 :  6
, + - +)"? ) 3 , " 
 4 * 3 )"+ 3 " 
% 7%A8 + -", 3-",   
 <B C>4 * %A  3 - )"+ 3 +
 )   -"    7@,+)
 ++"84  ,   +)"
)3  ;+  " .  
   ) <D>4 *  
7@,+)  ++"8 + +.   +
   -, )+",  +++ 3  ))"+
  +",  ) "+4
 ,  ) + ++"  ,+)
2015 IEEE 29th International Conference on Advanced Information Networking and Applications
1550-445X/15 $31.00 © 2015 IEEE
DOI 10.1109/AINA.2015.222
461
 + - " 3  +) ,  
 %A4 <> )  +" ))"+  
)  - " 4 * :  +
 ) . )"+  %A  " -, <E> 
   +)  .+ "  6
)", )-"    )A +4 *, 
#" ;"     ,+) ++"
  4  #" ;" 
  -    "4 03 ,
;" (" F *  )6 
 #"  ()", ;"  ) 4
     
   3    3" )+ 
 1 )   <>  ""  44
• )G  3+ 3    -,  
•", )G 3 +   -  
 
• G ++    
  ))"+4
 " ) 44  )    )6
+  +:   44  + 
 ? +4 *   -  ", )4
 ", ) :   ""  "+
   .  +4 * +   
 )  3    )", 
))"+ "4
*    3   
-+ +",   4 ++" 
@,+)    )  - 
 +"4
++"    +"+" @6+  H I
 ! ?  , -,4 *    -", 3. 
 ;  ++"  J  +  "+,K
"3,4  )"  -    
-  4 @6+ -+ ++" 3  ,4
    )"+  + ) 3 ! ? 
 ++" 3"" - 64 * ""3 "" 7;48
-L, +- +"+"   ++"4
@,+)    +"+" " "+ 
H I  ! ?4 *    ++  
- . +     "+4 * ++",
     -, ,+)  ++"6
   +" +    3 -,
    3+ "4 4 ?)"  "
   ,+) 4
   -, 3 + ++"  ,6
+) +"  :    ?  
 )+ +"+"  -, )"+ 3 )+  "-"
+4
4 /2** /H*
1 -1+   ))?    
  +       
3"4 % ,)+"",  ,+)  ++"
  ++" +  " +  +6
  "  "-" +4  ))?6
  ++ -,  -  +4
   
@,+)  )  ))? 
"    "   .34 *
" "+, +"+" -, ,+)  " +",
  " ++ ))?    -, 
   )4  "9  ))?
"  ""  ;4 4
+"", ?) ,+)  + -
"   : 4< >
=−+
 (E,
ω
)⊗M
−78
3
N))? 
N)")
ω
N"  + +"+"  /
⊗N : ")"+ )4
 , +   ++ ))?
:  " - "9    + "
  , )4 *   3 ;+
)-" 44
•,   "  + 3"" + +"6
",4
•"    -,     .3 
"  3 )+ +4
O+ ""  ))?     "6
  "-" + 4 (-  + 
 +)  " 3 .3 " ) +6
 + )  3   ++4 +"",
  K/K + - +"+"   :4 4
=
ω
∀
ε
(.....)78

N /
N -   +
ω
N /+ +  "-" +4
 )+ -, <>  , + -  
 )" "  +"+"  - -, "+
     +4 @" " 
   ;   :4  :4 $G
=
|||| 7 8
=[]≡M
7$8
3 N ++" +4
% +  ))?    -"
"4     3 + ++"  
)"" 3    ++"  , )6
  "    -,4 0 3 3"" + 3
 3",    " 44 ()",
;"  #" ;" "",4
462







  !
4 4   F,
! 
()",   " 7(8  
   " ) -, +- 3  6
 3   ))4  + + +6
+" "   :+,  3" ,+)
" + "3 :+, 4 *   +:
))", - "3   ) ;"  ?)  :4' G
"="#()+""#()=7'8
%  ))+    3 +  ",
)-"4 +"", 3 + ?) ( : 
 :4 =  :4 BG
=+
$7=8
M
=
+
$(
−
) |−|<
|−|≥
7B8

N ,+) 4

N + -4
$N ;" +6;+4
N "   + -  "
++"4
 )   :4B   :+, )
3" "3 :+,   " -, " )  :4B4
" +;+ )",  " "   ++" 
+"4   "   ++" +;+ +
 ++  "3 3  +++,  6
4
()", ;"  + "  +6
+"  ,+) 3 - 4  +6
) 3 #" ;"    + 4
! % 
  ",  #" ;"    
 3", ++) "4 * +  
 3  3  " ,   +  
;"  -+4 ",  ;"  3""   3" 
    + - ))"  , ;" :
 4 #"   " 7#8 
) .3"  ,+  )+   4
+"", # + - ?)   :4C < >4
&$+=&$+ $+
ω
$7C8

&$N  +
N * ?  ) 
N  ?  +" )
ω
N  +
 $    ,     + - ?)
 :4D
$=!&$+
υ
$7D8
 :4 D K(K   ? " 3 -  3"
υ
$   +4
@  -  : #" ;" + -
; -, :4 E     <$>4
%$=#
$!(!#
$!+$)−7E8
M
&$+=(M
&$+ $)+$(+$+−!M
&$)78
463



 

   
   
P 




  
! " 
#$ % 
4 4 @,+) ++" +
#
$+=#
$+'$+#
$!−
$+!#
$78
3Q
#N #" 4
 N  ++ ?4
&N +, +   ,4
$N ++ ?   +
υ
$
O4 2H2/2*F 2*%
* ++)  -",     ")" ;"
   +) ++    3 4
03 3  3 +"  ))"+
  ++)   - "   ;+ 
) 4 ( " -,  
3. 3+  )",   3", ++)
+",     )"  +
  -,4 *  )",  ))"+  
  44 @,+)  ++"4
(  "      3+
  - ",9 )+",       ++
"4
    






    





    





4 $4 (  #   -
*  ) ,  :)) 3  6
   +",   ,+) 
++"4 *  + )",  " "  ""
464






4 4 @"9  ))? "
+   +) + 6" "4
) ", -3"  ++.   -+.-
1,   3+ ,    ),)  ",
-4 *  ) )   )
+ -"+"      ?)  
+  3""4    )  +   -+.
 +",   - 3" 3".  
) , +, + -  - ++   )
  -" )+     1,4
(   )  ))"+  "6
)   -  ,+)  ++" 7-" 
   )8  +",  )",
   ) +  3""      )
-4
  3. 3 ") +  ))"+  3
   +: 44 #  ( 
+)  "4 #  3  +)"
+  - , 3" (  )"  , 
)"4 * "     +""+  " 
+)  *F  , 3+ " )
3""   +4
O4 # F  (F22*/I F*2/@
 (  
  "   3  "- +)
#"  ()", ;"  - +)"
 +  +)"?, +4 - ""  )6
+ +++, 3 " +  3  ;4$4
  + ", )+   ;4 $ #" ;"
"    ++ 3 )+  ()",
;"4 * #" ;"  - , - 
" , 3   " "+ 
  )+4  3" -,    78
  "",   )+ - " "+,  
 4    ()", ;" 
+   )  3  4
()
(  -  " -  ;4$
 ))"+  ")  ,+)  ++"6
 4 * " -  ++"  )+
 ;4' '-  '+ 3" * ""  )+   ,3
  ,+)     ;4=4
! !
 +++ 3 4B ?)" " ?) 
()", ;" ) #" ;" ;+",
-,  " +)"  )+ )3 )
 +++,4 ()", ;"   + -
))" -,  ", +  : +"
)4    " #" ;" 
 ? ) +" ")"+
 .    + "  
+)"  )+ + - +)"?,4
 +  3 )+  ? 
  )" #" ;" ) -",4
++   )" ""  ;4B  ;4 B-  :4
C6 ()", ;" ) #" ;"  
)+  +)" +4  )" + )"6
  +  ()", ;" -
"   )+ +)" +  +++ 3
#" ;" <$>4 *-"  )+  +) ",
 #"  ()", ;" +:  4
O4 (%
 .  ") +   + )  
+""+   +)"?  ",9   ++",4
  )) ;+   " )", "
 , ++" "4   )  3 3 ;+
 ++   +:  + 3.
;+",4
465
         
 
 
 
 
 
 
 
 
 



78 ++" / H6?
         
 
 
 
 
 
 
 
 
 



7-8 ++" / I6?
         
 
 
 
 
 
 
 
 


!
7+8 ++" / !6?
4 '4 ++" /
         



""
         
 
 


#$%"
         
 
 


&'%"
4 =4 @,+) /
* F 2 
(/G( #
0 -/+ $/+
 -" *++"", "
-   
-, 

+" 
;+",
))?
:
),+" ))
   
:
/)  
" "3 "+,
(
()"?,
;+"  +6
)"?  +
2,  +
+ + )+ 6

 , )+

+"
()"?,
+ ()"? 6
: " "-
 + +"+6
"
 -  ,
  36
 )"
 -+6
   6

'BD  = 
")"+R
  
'$ +$=  D + 
 3.  -    4 0+ #"
 ()", + +  
+  ?)4 @"", #" ;" 
      " , 3  "  )
;+ "     ,  3.
+ ) +.  6" "4 
 ) +.  - #  ) 
3  "  -+  3 )+ 
 ?     +.,4  +"+" 
     -,  7"-
" -+.      8 , : 
)+ " + 3  3 )+ "4 *
  1     #" ;" "
 )+ ++ ))?  ? 4 
466



















78 " O # O (
         
 

 

 
 
 
 


(

7-8 #" O ()", "
4 B4 ( O (   "
+ ); )+ "   -, 
 "  +)"? .4
( ()", ;"    
 ",  , )  )+ ,+ + 
     )-" #" ;"   +4
0 "3 +)"?,  " )+  3 9
)+ " ( )  3  + - 
 ?)" "  # 7;4B84 #) ,
+)  3 3+     1 +
   ( )  )+ , 1,
+ " "3 )3 ")  3 )+  #"
;"4
O4 ((F%  %*%/2 /#
    )+  +    
 +""4    )  
 ) "  +  -   " 3
-3 ,    - 3    -
     +)"   )34
03 ,    "  +   
"4 #"   +:  - 
)  "  ) +  +"+" +
4 * +: )+     
",   + -,  ) .3" 7+
 -84 ++   , 3.  ?)
3 3 +   )+  #" ;"
  )  34     +)"?, 
+)" + -       "4
()", ;"  +) 3 #" ;" 3
 - )+ 3   )"+,  "3
)+  +  -" 4
  3    )" ()", ;" 
 -      ) 
  -+. - 1,  +)  " 3
+" -"  ++ -, ),)4
/22/2(2
<> 0 6, "   4 " ( 
" /-+ * %,  ,,  EE=4
<> I4 6"  H46/4 F "6" *+.G +)"
 *+:4  E6D=$C 6E6 DD'4444   44
4 )" "4 + 0"" DBD4
< > " I. * 24    @4 (-"4 K*+.
  +4K * "   ++" +,  +
CB4 7DDE8G DC6DD4
<$> /"  /4 "6   3 *FS4 (/( 
EED4
<'> !    4 K "6"  + "
 "6 4K "" ++  ""  26
4 ) " 0"- E 4 CE6CC4
<=> ( *3 ( F  - (4 K"6 
3 + ")" " ;"  ) + )
+++,4K   4$ 7E 8G $6$ B4
<B> + 2+ /4  "4 K"  + ) +. 
   3. " 4K + 
 ( ,)  O" ", 3  +",4 (
EE4
<C> ! 0  4 "+.  4 4 04 K6
+"   ",  . -"4K +" 
-"+"   +) $ 4$ 7EE'8G $ 6$E4
<D> F +" 4  "4 K ,  -" ) 4K (6
+ 9 222 $C4D 7EE8G $E6'E4
<E> + *    ! "4 K +)
 +, +.  )6 -,  3.4K
 () *+", 7*2(08 E * "
(+ 4 222 E 4
<> + *  "4 K- " G  )  
-,  3. +)4K )+G * "  
)+ =4 7E 8G =6='4
<> #"   "4 K"  G  3  
6664K   $4 7E 8G C6$$4
< > I 4 4 K()   ;" "  "
3" " ) +.4K -"  )"-" , 
3. EED4  EED4 ? " .) 4 222
EED4
<$>  4 K#" ;"4K 2- ,  $4=
7EE8G B6BD4
<'> T+. 06 1 # T  0" "4 K/"-"
   -"  +)  +" -"6
  -  "  4K +"++
" 7E$84
467
ResearchGate has not been able to resolve any citations for this publication.
Motion capture and activity tracking using smartphone-driven body sensor networks
Conference Paper
Full-text available
  • Aug 2013
Because of advances in inertial microelectronics and mobile computing technologies, highly accurate sensor hardware has become ubiquitous in modern smartphones. This paper introduces a framework that networks smartphone devices to produce body sensor networks for motion capture and activity tracking application areas. Data is transferred in real-time using the motion cloud, an online gateway and storehouse for inertial data. The goal of this research is to present a modular methodology for amalgamating smartphone sensor data within a centralized repository that is suitable for experimental research. The proposed framework explores solutions for sensor fusion, data synchronization, data streaming and remote control functionality in smartphones. To demonstrate sensing accuracy, three devices are strapped to the motion performer's arm to record the articulated motion of a hand wave gesture. To demonstrate continuous sensing, two devices are networked for a period of two hours to identify differences between sedentary and active comnortments.
View
Ambient Health Monitoring: The Smartphone as a Body Sensor Network Component
Conference Paper
Full-text available
  • Jul 2013
Inertial measurement units used in commercial body sensor networks (e.g. animation suits) are inefficient, difficult to use and expensive when adapted for movement science applications concerning medical and sports science. However, due to advances in micro-electro mechanical sensors, these inertial sensors have become ubiquitous in mobile computing technologies such as smartphones. Smartphones generally use inertial sensors to enhance the interface usability. This paper investigates the use of a smartphone's inertial sensing capability as a component in body sensor networks. It discusses several topics centered on inertial sensing: body sensor networks, smartphone networks and a prototype framework for integrating these and other heterogeneous devices. The proposed solution is a smartphone application that gathers, processes and filters sensor data for the purpose of tracking physical activity. All networking functionality is achieved by Skeletrix, a framework for gathering and organizing motion data in online repositories that are conveniently accessible to researchers, healthcare professionals and medical care workers.
View
Multi-Sensor Fusion with Interacting Multiple Model Filter for Improved Aircraft Position Accuracy
Article
Full-text available
The International Civil Aviation Organization (ICAO) has decided to adopt Communications, Navigation, and Surveillance/Air Traffic Management (CNS/ATM) as the 21st century standard for navigation. Accordingly, ICAO members have provided an impetus to develop related technology and build sufficient infrastructure. For aviation surveillance with CNS/ATM, Ground-Based Augmentation System (GBAS), Automatic Dependent Surveillance-Broadcast (ADS-B), multilateration (MLAT) and wide-area multilateration (WAM) systems are being established. These sensors can track aircraft positions more accurately than existing radar and can compensate for the blind spots in aircraft surveillance. In this paper, we applied a novel sensor fusion method with Interacting Multiple Model (IMM) filter to GBAS, ADS-B, MLAT, and WAM data in order to improve the reliability of the aircraft position. Results of performance analysis show that the position accuracy is improved by the proposed sensor fusion method with the IMM filter.
View
Multi-Sensor Data Fusion Project
Article
Full-text available
  • Feb 2000
The Comprehensive Nuclear Test-Ban Treaty (CTBT) calls for the establishment of networks of seismic, hydroacoustic, infrasonic, and radionuclide sensors to monitor the earth for unannounced underground, underwater, and atmospheric nuclear tests. Seismic processing at the prototype International Data Center (pIDC) has been operating continuously since the GSETT-3 experiment that started in late 1994. Seismic is the most mature of the four monitoring technologies in automatic processing and interactive analysis. The other three technologies are in an earlier stage of development and evaluation. Since late 1996, efforts have been made under the Multi-Sensor Data Fusion project funded by the Defense Threat Reduction Agency (DTRA) to integrate hydroacoustic and infrasonic monitoring technologies into the existing pIDC automatic processing and interactive review framework. Signal processing of hydroacoustic and infrasonic waveform data was integrated into the pIDC monitoring system, and network processing was enhanced to include two hydroacoustic phase types, H-phase (in-water generated) and T-phase (underground generated) and one additional infrasound phase, I. A joint bulletin including the three waveform technologies is produced at the pIDC on a continuous basis. The bulletin includes arrivals from natural and man-made events recorded by all three sensor types. Enhancements have been made to the travel-time handling system to take into account temporal variations which may be significant for both acoustic technologies. When no specific travel time tables are available for a station, a default constant velocity model is used which makes the software ready for network expansion in the three waveform technologies. Case studies, network simulations and results from the pIDC operational system were used to normalize and evaluate the capability of data fusion in the pIDC monitoring system.
View
Multi-sensor data fusion with MATLAB®
Book
  • Dec 2009
Using MATLAB® examples wherever possible, Multi-Sensor Data Fusion with MATLAB explores the three levels of multi-sensor data fusion (MSDF): kinematic-level fusion, including the theory of DF; fuzzy logic and decision fusion; and pixel- and feature-level image fusion. The authors elucidate DF strategies, algorithms, and performance evaluation mainly for aerospace applications, although the methods can also be applied to systems in other areas, such as biomedicine, military defense, and environmental engineering. After presenting several useful strategies and algorithms for DF and tracking performance, the book evaluates DF algorithms, software, and systems. It next covers fuzzy logic, fuzzy sets and their properties, fuzzy logic operators, fuzzy propositions/rule-based systems, an inference engine, and defuzzification methods. It develops a new MATLAB graphical user interface for evaluating fuzzy implication functions, before using fuzzy logic to estimate the unknown states of a dynamic system by processing sensor data. The book then employs principal component analysis, spatial frequency, and wavelet-based image fusion algorithms for the fusion of image data from sensors. It also presents procedures for combing tracks obtained from imaging sensor and ground-based radar. The final chapters discuss how DF is applied to mobile intelligent autonomous systems and intelligent monitoring systems. Fusing sensors' data can lead to numerous benefits in a system's performance. Through real-world examples and the evaluation of algorithmic results, this detailed book provides an understanding of MSDF concepts and methods from a practical point of view.
View
View
View
Reliable orientation estimation for mobile motion capturing in medical rehabilitation sessions based on inertial measurement units
Article
  • Jun 2014
Fully mobile and wireless motion capturing is a mandatory requirement for undisturbed and non-reactive analysis of human movements. Inertial sensor platforms are used in applications like training session analysis in sports or rehabilitation, and allow non-restricted motion capturing. The computation of the required reliable orientation estimation based on the inertial sensor RAW data is a demanding computational task. Therefore, an analysis of the computational costs and achievable accuracy of a Kalman filter and a complementary filter algorithm is provided. Highly customized and thus low-power, wearable computation platforms require low-level, platform independent communication protocols and connectivity. State-of-the-art small sized commercial inertial sensors either lack the availability of an open, platform independent protocol, wireless connectivity or extension interfaces for additional sensors. Therefore, an extensible, wireless inertial sensor called Institute of Microelectronic Systems Inertial Measurement Unit (IM)2SU, featuring onboard inertial sensor fusion, for use in home based stroke rehabilitation is presented. Furthermore, a Quaternion based, singularity free orientation estimation accuracy error measure is proposed and applied. To evaluate orientation estimation accuracy an optical system is used as golden reference. Orientation estimation based on a Kalman filter and a complementary filter algorithm is evaluated. The proposed IMU provides high orientation estimation accuracy, is platform independent, offers wireless connection and extensibility and is low cost.
View
A Multi-dimensional Data Association Algorithm for Multi-sensor Fusion
Conference Paper
  • Oct 2012
Data Association for multi-sensor fusion is one of difficult points in target tracking. A multidimensional data association algorithm for Multi-sensor fusion is present. Firstly, we judge the mode of multi-target tracking, then choose varied multidimensional data association algorithm according to the mode, analyze and improve the existing problem of the assignment algorithm. We put forward a brief outline of the algorithm in pseudo-code form. Simulation and practical experimental results show that the algorithm is suitable for the ballistic target tracking and multi-target tracking in complex environment.
View
View