A Low-Complexity 6DOF Magnetic Tracking System Based on Pre-Computed Data Sets for Wearable Applications

We present a 6DOF magnetic tracking system based on a low-complexity algorithm, operating with an Inertial Measurement Unit (IMU) orientation estimation and regression functions formed with simulated data sets, capable of running using only a single microcontroller unit (MCU), for use in low-complexity wearable and wireless systems. A prototype based on a commercial magnetometer and IMU, a Cortex-M4 MCU was implemented and tested in both static and dynamic conditions, using a VICON motion tracking system as reference. Static and dynamic spatial accuracy performance is 2.6,mm and 5.4,mm respectively, after applying a calibration procedure based on a two layers Neural Network (NN) and a measured data set. Comparison with the state-of-the-art, supported by a defined Figure-of-Merit (FoM) show excellent performance compared to commercial and research systems in a low-complexity and portable solution