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Attitude capture clothing is widely used in virtual anchor, virtual fitting and other fields, and MEMS-IMU is the key component to realize high cost-performance attitude capture clothing. However, a precision turntable is needed in order to estimate gyroscope’s static biasing, and measurement errors of MEMS-IMU are difficult to be obtained. Based on the problem, both attitude and gyroscope’s static biasing are estimated in field through a Kalman filter, a design method of measurement errors is proposed for improving attitude’s accuracy. In the proposed method, a mathematical model of measurement errors is given, and the optimal values of measurement errors are obtained by analysing the relationship between attitude’s accuracy and measurement errors. A MEMS-IMU with name of MPU9250 and size of 3 mm*3 mm* 1 mm is used for verifying the feasibility of the proposed method. Experimental results show pitch, roll and yaw deviate from the reference values by 0.008°, 0.006° and 0.6° respectively when the MEMS-IMU keeps movement at a constant speed in arbitrary trajectory, which is significant for promoting the application of MEMS-IMU in attitude capture clothing.

Design method of measurement errors of MEMS-IMU in attitude capture clothing