3D Tracking with IMU

This video demonstrates an algorithm that enables tracking in 6DOF (pitch, roll, yaw, and x, y, z displacement) using only an IMU (gyroscope and accelerometer). The algorithm uses assumptions of gait overcome the problems with obtaining a position through the double integration of acceleration. Data was collected using an x-IMU; a self contained unit with on-board gyroscope, accelerometer and SD-card logging. See: The data was then processed using my own algorithms to achieve the plots shown in this video. The work presented was conducted by Sebastian O.H. Madgwick during his Ph.D research at the University of Bristol. For more information and source code, see: