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The estimated orientation distribution closely agrees with that experimentally observed.
Then, an estimated orientation is built by integrating gyroscopic readings, and corrected by the measured one.
In the following sensor fusion process, the estimated orientation and measured orientation in EKF are based on gyroscope and a combination of accelerometer and magnetometer.
where q k indicates the estimated orientation at time k, Q am denotes the orientation based on current accelerometer and magnetometer, and (widetilde {q}_{k}) presents the priori estimate at time k, which is calculated through last orientation and rotation increment.
With the estimated orientation (obtained by selecting the maximum probability index) of each input sample, we cluster the samples which have the same orientation index to get the probability mask and obtain the soft mask from the probability mask through the ungroup operation.
This was assessed using an ANOVA to compare the influence of endpoint force on the estimated orientation of maximal endpoint stiffness.
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Estimated orientations of σ 1 and σ 3 axes are shown in Figure 1a.
A fast algorithm for computing the best orientations based on a hierarchical compressed sensing algorithm and a novel metric for comparing estimated orientations are also proposed.
The contribution of each common line to the estimated orientations is weighted according to a statistical model for common lines' detection errors.
In addition, we also provide technologies to estimate orientation with Magnetometer and Gyroscope and detect context with output of sensors.
The paper itself is partially focused on the first part of the project, 6DOF inertial measurement unit and on some algorithms to estimate orientation in space.
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