Abstract
Inertial measurement units are widely used for sensing orientation in different fields, from medical applications and vehicle control to motion capture and virtual reality. The practice of applications is elaborated for many use cases, and the characteristics of the IMU-based measurements are deeply investigated, especially since the invention of MEMS-based IMU devices. However, the theoretical basis of applications in which the precise direction or complete orientation of a tool must be tracked with respect to an exact reference frame (e.g., a medical imaging device, anatomical reference, or a particular fixture) has not been covered in the literature, and commercial implementations are also limited to the trivial settings. In this paper, calibration and error display methods are derived along with error distribution analysis and experimental validation to give a generic yet focused discussion. The discussed approach presents a general framework for IMU-based orientation tracking.
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