Optimal Wiener Filter for a Body Mounted Inertial Attitude Sensor
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Bibliographic record
Abstract
An optimal attitude estimator is presented for a human body-mounted inertial measurement unit employing orthogonal triads of gyroscopes, accelerometers and magnetometers. The estimator continuously fuses gyroscope and accelerometer measurements together in a manner that minimizes the mean square error in the estimate of the gravity vector, based on known spectral characteristics for the gyroscope noise and the linear acceleration of points on the human body. The gyroscope noise is modelled as a white noise process of power spectral density δ n 2 /2 while the linear acceleration is modelled as the derivative of a band-limited white noise process of power spectral density δ v 2 /2. The estimator is robust to centripetal acceleration and guaranteed to have zero mean error regardless of the motion of the sensor. The mean square angular error in attitude is shown to be independent of the module's angular velocity and equal to 2 1/2 g −1/2 δ n 3/2 δ v 1/2 .
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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 | 0.000 |
| 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