Using Vicon system and optical method to evaluate inertial and magnetic system accuracy

¹ Cea LETI-Minatec, 17 rue des Martyrs, 38054 Grenoble cedex 9, France
² Movea SA BHT, 7 Parvis Louis Néel, 38040 Grenoble, France

^a e-mail : pierre.grenet@cea.fr

Abstract

MEMS are being more accessible thank price and energy consumption. That explains the democratisation of attitude control system. Sensors found in attitude control system are accelerometers, magnetometers and gyrometers. The commercialised solutions are expensive and not optimised in sensors number and energy consumption. Movea’s system is based on low cost sensors, number optimisation and low energy consumption. It is constituted of wireless attitude control system named MotionPOD. The system has two modes: the simulation mode and the reconstruction mode, even for cinematic motions. Movea’s system is seen as a black box which becomes as entries measurements for reconstruction mode and body segment orientation for simulation one. In body motion reconstruction Vicon system is usually used because of its accuracy. With markers position it is easy to compute the orientation of each body segment if we have put enough markers. That is why Vicon system may be a good etalon for the Movea’s system. We present practical approach of the characterisation of Movea’s system and its validation. Thereby we will present criterion useful to evaluate the reconstruction accuracy. Moreover we will insist on optical methods used to extract the interesting data from Vicon.