Inexpensive Kinematic Attitude Determination from MEMS-Based Accelerometers and GPS-Derived Accelerations
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Bibliographic record
Abstract
ABSTRACT: This paper describes an inexpensive kinematic attitude determination technique that uses GPS and a triaxial accelerometer. By removing the GPS-derived accelerations from the specific forces sensed by the accelerometers, the gravity vector in body frame of the vehicle is determined. From this, roll and pitch can be calculated. Azimuth is provided by the GPS-measured trajectory. Details are given on the system components and configuration, and on the kinematic attitude determination algorithm. A test of the technique shows that the root-mean-square (RMS) error is less than 1 deg. An analysis of Taylor series finite-difference differentiators in the frequency domain is also given. From this analysis, it is shown that for second derivatives, direct differentiators are preferable to cascaded differentiators unless the suppression of high frequencies is desired.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.001 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it