Stand-Alone Optimal Otolith-Canal Fusion for Estimating Body Orientation

K.A. Tahboub (Germany)




This article presents a novel method to estimate the body orientation based on information provided by the human vestibular system consisting of the otolith and semicircular canals. The semicircular canals analogues to a technical gyrometer measure the angular velocity whereas the otolith analogues to a technical accelerometer measures the translational acceleration. A Kalman filter is employed to optimally fuse the two measurements based on their dynamic characteristics and their noise properties. The main contributions of the presented method are two folds: first it readily provides an optimal estimate for the orientation as well as the angular velocity with an explicit treatment of the gyrometer drift; second it does not call for any internal model or representation of body kinematics or dynamics and thus forms a standalone solution.

Important Links:

Go Back