Live Demonstration: Double SLERP Gravity-Magnetic Vector (GMV-D) orientation correction in a MARG sensor

Abstract

It is desirable for computers to have the real-time ability of tracking user hand movement. The use of Magnetic-Angular Rate-Gravity modules (MARGs) is one of the emerging approaches for this purpose. We studied the use of a MARG module (YEI 3-Space Sensor) in conjunction with a 3 IR-camera (OptiTrack V120 Trio) tracking system for hand tracking. The MARG gyroscopes display "drift error" which will continue to grow through time. We correct the gyroscope-based orientation quaternion estimate by calculating orientation estimates derived from the accelerometer and magnetometer included in the same MARG module. We assess the suitability of application of either of these orientation correction approaches and implement them as appropriate. This makes full use of the capabilities of the MARG module to persistently minimize orientation estimate errors.