An unscented Kalman filter for in-motion alignment of low-cost IMUs
Why this work is in the frame
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Bibliographic record
Abstract
This paper describes the alignment of low-cost inertial measurement units (IMUs) using an unscented Kalman filter (UKF), which allows large initial attitude error uncertainties. The state vector includes position, velocity, attitude, and sensor biases and scale factors. Position information from the differential global positioning system (DGPS) solutions is used as measurements. Test results with a micro-electrical-mechanical-systems (MEMS) IMU showed that the alignment converged within 50 s with RMS values of 0.093/spl deg/, 0.094/spl deg/ and 0.388/spl deg/ for roll, pitch and heading, respectively. The UKF works well even in cases of large initial attitude errors (about 30/spl deg/) not only for heading but also for roll and pitch. Therefore, the UKF is a unified approach to handle large and small attitude errors of an inertial navigation system (INS) seamlessly.
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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