{"id":"https://openalex.org/W2023660900","doi":"https://doi.org/10.1109/embc.2013.6610410","title":"Modification and fixed-point analysis of a Kalman filter for orientation estimation based on 9D inertial measurement unit data","display_name":"Modification and fixed-point analysis of a Kalman filter for orientation estimation based on 9D inertial measurement unit data","publication_year":2013,"publication_date":"2013-07-01","ids":{"openalex":"https://openalex.org/W2023660900","doi":"https://doi.org/10.1109/embc.2013.6610410","mag":"2023660900","pmid":"https://pubmed.ncbi.nlm.nih.gov/24110597"},"language":"en","primary_location":{"id":"doi:10.1109/embc.2013.6610410","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc.2013.6610410","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5038163099","display_name":"Hans-Peter Br\u00fcckner","orcid":null},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Hans-Peter Br\u00fcckner","raw_affiliation_strings":["Institute of Microelectronic Systems, Leibniz Universität Hannover, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Microelectronic Systems, Leibniz Universität Hannover, Germany","institution_ids":["https://openalex.org/I114112103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077746210","display_name":"Christian Spindeldreier","orcid":null},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christian Spindeldreier","raw_affiliation_strings":["Institute of Microelectronic Systems, Leibniz Universität Hannover, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Microelectronic Systems, Leibniz Universität Hannover, Germany","institution_ids":["https://openalex.org/I114112103"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016532646","display_name":"Holger Blume","orcid":"https://orcid.org/0000-0002-0640-6875"},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Holger Blume","raw_affiliation_strings":["Institute of Microelectronic Systems, Leibniz Universität Hannover, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Microelectronic Systems, Leibniz Universität Hannover, Germany","institution_ids":["https://openalex.org/I114112103"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I114112103"],"apc_list":null,"apc_paid":null,"fwci":34.993,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.99209233,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"41","issue":null,"first_page":"3953","last_page":"3956"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9958999752998352,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9945999979972839,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.7870569229125977},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7146904468536377},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.6460677981376648},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.6357778310775757},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.4936619699001312},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4597288966178894},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.37958207726478577},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23482364416122437},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12302824854850769}],"concepts":[{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.7870569229125977},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7146904468536377},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.6460677981376648},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.6357778310775757},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.4936619699001312},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4597288966178894},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.37958207726478577},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23482364416122437},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12302824854850769},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009949","descriptor_name":"Orientation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009949","descriptor_name":"Orientation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009949","descriptor_name":"Orientation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012815","descriptor_name":"Signal Processing, Computer-Assisted","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012815","descriptor_name":"Signal Processing, Computer-Assisted","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012815","descriptor_name":"Signal Processing, Computer-Assisted","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D016014","descriptor_name":"Linear Models","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D016014","descriptor_name":"Linear Models","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D016014","descriptor_name":"Linear Models","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":2,"locations":[{"id":"doi:10.1109/embc.2013.6610410","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc.2013.6610410","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)","raw_type":"proceedings-article"},{"id":"pmid:24110597","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/24110597","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.44999998807907104,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W574082349","https://openalex.org/W1975389748","https://openalex.org/W1983169648","https://openalex.org/W2036894351","https://openalex.org/W2089929220","https://openalex.org/W2099066500","https://openalex.org/W2109884201","https://openalex.org/W2118146912","https://openalex.org/W2127898977","https://openalex.org/W2140268640","https://openalex.org/W6679149444"],"related_works":["https://openalex.org/W2103062922","https://openalex.org/W2103761320","https://openalex.org/W2162299404","https://openalex.org/W2358167375","https://openalex.org/W116564642","https://openalex.org/W1981649169","https://openalex.org/W2785359964","https://openalex.org/W2143286369","https://openalex.org/W1983380679","https://openalex.org/W2547078080"],"abstract_inverted_index":{"A":[0],"common":[1],"approach":[2],"for":[3],"high":[4,38],"accuracy":[5,92],"sensor":[6,82,118],"fusion":[7],"based":[8],"on":[9,33,107,116],"9D":[10],"inertial":[11,81],"measurement":[12],"unit":[13],"data":[14,75],"is":[15,41,70,83],"Kalman":[16,59],"filtering.":[17],"State":[18],"of":[19,54,65,110],"the":[20,51,62,95],"art":[21],"floating-point":[22],"filter":[23,68],"algorithms":[24],"differ":[25],"in":[26,86,105],"their":[27],"computational":[28,52,87],"complexity":[29],"nevertheless,":[30],"real-time":[31],"operation":[32],"a":[34,55,66,108],"low-power":[35],"microcontroller":[36],"at":[37],"sampling":[39],"rates":[40],"not":[42],"possible.":[43],"This":[44],"work":[45],"presents":[46],"algorithmic":[47,97],"modifications":[48,98],"to":[49,94],"reduce":[50],"demands":[53],"two-step":[56],"minimum":[57],"order":[58],"filter.":[60],"Furthermore,":[61],"required":[63],"bit-width":[64],"fixed-point":[67,100],"version":[69],"explored.":[71],"For":[72],"evaluation":[73],"real-world":[74],"captured":[76],"using":[77],"an":[78],"Xsens":[79],"MTx":[80],"used.":[84],"Changes":[85],"latency":[88],"and":[89,99],"orientation":[90],"estimation":[91],"due":[93],"proposed":[96],"number":[101],"representation":[102],"are":[103],"evaluated":[104],"detail":[106],"variety":[109],"processing":[111,115],"platforms":[112],"enabling":[113],"on-board":[114],"wearable":[117],"platforms.":[119]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}