"Validation of 3-Space Wireless Inertial Measurement Units Using an Industrial Robot" dataset

This is the data for the publication "Validation of 3-Space Wireless Inertial Measurement Units Using an Industrial Robot". This study determined the accuracy of nine IMUs against an industrial robot. 13 files have been provided: - 4 rotation sequence files (ending in "rot"), one for each of the 4 filters (Kalman with the magnetometer enabled, Kalman without the magnetometer, QComp without the magnetometer, and QGrad without the magnetometer). The sampling frequencies for these files are all 248.0159 Hz. - 4 translation sequence files (ending in "trans"), one for each of the 4 filters. The sampling frequencies for these files are all 248.0159 Hz. - 4 files for the 30-second stationary sequences (ending in "stat"), one for each of the 4 filters. The sampling frequencies for these files are all 248.0159 Hz. - 1 file for the 1-hour drift test ("Kalman_nomag_1-hour_drift.mat") using the Kalman filter without the magnetometer. The sampling frequency for this file was 20 Hz. Each file contains "IMU" structs and "ref" variables. The IMU structs contain nine field of data, one for each of the nine IMUs. Data is given in quaternion ("quat" field) and axis-angle ("axang" field) formats. Ref variables are reference quaternions from the IRB 2600 industrial robot. The IMU and ref variables are given in pairs (i.e. "ref_360deg_s_X" is the reference data for the "IMU_360deg_s_X" struct). The data in these variables have already been aligned and cropped. The data for the rotation sequence files (names ending in "rot') are divided by axis (X, Y and Z) and speed (45deg/s, 90deg/s,360deg/s) The data for the 30-second stationary sequence files (names ending in "stat') are divided by axis only (X, Y and Z) All other files have one IMU variable and one ref variable For more information please refer to the publication "Validation of 3-Space Wireless Inertial Measurement Units Using an Industrial Robot" or contact me