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About this paper
Manon Kok, Jeroen D. Hol, Thomas B. Schön
The authors present a tutorial on estimating position and orientation from inertial sensors, explaining how gyroscope and accelerometer errors accumulate and how external references can anchor estimates. In a simulated orientation task, smoothing optimization achieved 2.30° mean heading RMSE versus 3.54° for filtering across 100 runs. This comparison assumes gravity and magnetic references remain valid and is not universal.
Summary by alphaXiv.
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