earticle

영어

Advancements in sensor technology, particularly Inertial Measurement Units (IMU), are crucial in modern pose estimation. IMUs typically consist of accelerometers and gyroscopes (6-axis), with some models including magnetometers (9-axis). This study investigates the impact of sensor frequency on pose estimation accuracy using data from a 256Hz IMU sensor. The data sets analyzed include “spiralStairs,” “stairsAndCorridor,” and “straightLine,” with frequencies varied to 128Hz, 64Hz, and 32Hz, and conditions categorized as stationary or dynamic. The results indicate that sensitivity remains high at lower frequencies under stationary conditions but declines in dynamic conditions. Performance comparison, based on Root Mean Square Error (RMSE) values, showed that lower frequencies lead to increased RMSE, thus diminishing model accuracy. Additionally, the Extended Kalman Filter (EKF) was tested as an alternative to Madgwick's algorithm but faced challenges due to insufficient sensor noise data.