Robust Orientation Estimation from MEMS Magnetic, Angular Rate, and Gravity (MARG) Modules for Human-Computer Interaction.

While the availability of low-cost micro electro-mechanical systems (MEMS) accelerometers, gyroscopes, and magnetometers initially seemed to promise the possibility of using them to easily track the position and orientation of virtually any object that they could be attached to, this promise has not yet been fulfilled. Navigation-grade accelerometers and gyroscopes have long been the basis for tracking ships and aircraft, but the signals from low-cost MEMS accelerometers and gyroscopes are still orders of magnitude poorer in quality (e.g.

Benchmarking Dataset of Signals from a Commercial MEMS Magnetic-Angular Rate-Gravity (MARG) Sensor Manipulated in Regions with and without Geomagnetic Distortion.

In this paper, we present the FIU MARG Dataset (FIUMARGDB) of signals from the tri-axial accelerometer, gyroscope, and magnetometer contained in a low-cost miniature magnetic-angular rate-gravity (MARG) sensor module (also known as magnetic inertial measurement unit, MIMU) for the evaluation of MARG orientation estimation algorithms. The dataset contains 30 files resulting from different volunteer subjects executing manipulations of the MARG in areas with and without magnetic distortion. Each file also contains reference ("ground truth") MARG orientations (as quaternions) determined by an optical motion capture system during the recording of the MARG signals.