An instrument qualifying human balance skills: Attitude reference system for an ankle exercise board

Modelling the vehicle kinematics is an essential design task of integrated navigation systems. It has to consider both the vehicle motion and the mechanical meaning of the used measurements. Up to now, a small rigid body with three translational and three rotational degrees of freedom is almost the only model applied (Farrell, & Barth, 1999). (For car navigation systems another rigid body with two translational and one rotational degree of freedom is usual.) In addition, all sensors are normally referenced to one vehicle point. However, the guidance of large vehicles (e.g. Airbus A380) having a structure which can no longer regarded as small requires generalizing the kinematics with respect to the essential degrees of freedom as well as to the spatial sensor distribution.