A multi-sensor system for 3D localization was developed and named BodyGuard. It combines body movement sensing and a guard system for the tracking and recording of the status of persons. BodyGuard was designed to monitor and transmit the movement of a person radio-based and to transform that data into a spatial coordinate. This paper describes how the BodyGuard system works, what components the system consists of, how the individual sensor data is converted into 3D motion data, with which algorithms the individual sensors are processed, how individual errors are compensated and how the sensor data are fused into a 3D Model.
The calibration of the integrated sensors in a multisensor system has gained in interest over the last years. In this paper we introduce an enhanced calibration process, which is based on the preceding study described in. The enhancement consists of the integration of a gyroscope. So far only the accelerometer and the magnetic field sensor were taken into account for the calibration process. Due to this improvement we reach a better approximation of the accelerometer and the magnetic field sensor. Additionally, we minimize the standard
deviation of the single sensors and improve the accuracy of the positioning of a moving person.