{"id":"https://openalex.org/W1988264776","doi":"https://doi.org/10.1109/robio.2012.6491298","title":"Performance evaluation of the wireless inertial measurement unit WB-4 with magnetic field calibration","display_name":"Performance evaluation of the wireless inertial measurement unit WB-4 with magnetic field calibration","publication_year":2012,"publication_date":"2012-12-01","ids":{"openalex":"https://openalex.org/W1988264776","doi":"https://doi.org/10.1109/robio.2012.6491298","mag":"1988264776"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2012.6491298","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2012.6491298","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101664595","display_name":"Zhuohua Lin","orcid":"https://orcid.org/0000-0003-4195-8349"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Zhuohua Lin","raw_affiliation_strings":["Graduate School of Creative Science and Engineering, and the Global Robot Academia, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo, 169-8555, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Creative Science and Engineering, and the Global Robot Academia, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo, 169-8555, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089341000","display_name":"Massimiliano Zecca","orcid":"https://orcid.org/0000-0003-4741-4334"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Massimiliano Zecca","raw_affiliation_strings":["School of Creative Science and Engineering, Waseda University, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Creative Science and Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016913379","display_name":"Salvatore Sessa","orcid":"https://orcid.org/0000-0003-3540-8121"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Salvatore Sessa","raw_affiliation_strings":["Graduate School of Creative Science and Engineering, Waseda University, Tokyo, Japan","Graduate School of Creative Science and Engineering Waseda University Tokyo Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Creative Science and Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"Graduate School of Creative Science and Engineering Waseda University Tokyo Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063308345","display_name":"Luca Di Bartolomeo","orcid":"https://orcid.org/0000-0002-5457-6246"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Luca Bartolomeo","raw_affiliation_strings":["Graduate School of Creative Science and Engineering, and the Global Robot Academia, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo, 169-8555, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Creative Science and Engineering, and the Global Robot Academia, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo, 169-8555, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064928700","display_name":"Hiroyuki Ishii","orcid":"https://orcid.org/0000-0002-5776-2423"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroyuki Ishii","raw_affiliation_strings":["Waseda Research Institute for Science and Engineering, Waseda University, Tokyo, Japan","[Waseda Research Institute for Science and Engineering, Waseda University, Tokyo, Japan]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Waseda Research Institute for Science and Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"[Waseda Research Institute for Science and Engineering, Waseda University, Tokyo, Japan]","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075328170","display_name":"Atsuo Takanishi","orcid":"https://orcid.org/0009-0009-9388-9278"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Atsuo Takanishi","raw_affiliation_strings":["Department of Modern Mechanical Engineering, Waseda University; and the Humanoid Robotics Institute (HRI), Waseda University, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Modern Mechanical Engineering, Waseda University; and the Humanoid Robotics Institute (HRI), Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2219","last_page":"2224"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13885","display_name":"Geophysics and Sensor Technology","score":0.9769999980926514,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.8701918125152588},{"id":"https://openalex.org/keywords/gyroscope","display_name":"Gyroscope","score":0.6409152746200562},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.6164741516113281},{"id":"https://openalex.org/keywords/magnetometer","display_name":"Magnetometer","score":0.5986337065696716},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.5896674394607544},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5584920644760132},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5196572542190552},{"id":"https://openalex.org/keywords/bluetooth","display_name":"Bluetooth","score":0.5163553953170776},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.46283602714538574},{"id":"https://openalex.org/keywords/compass","display_name":"Compass","score":0.4283522665500641},{"id":"https://openalex.org/keywords/euler-angles","display_name":"Euler angles","score":0.42695823311805725},{"id":"https://openalex.org/keywords/wireless","display_name":"Wireless","score":0.3602938652038574},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2849460244178772},{"id":"https://openalex.org/keywords/magnetic-field","display_name":"Magnetic field","score":0.2591087818145752},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.24390104413032532},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17821794748306274},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16304785013198853},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.10311493277549744}],"concepts":[{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.8701918125152588},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.6409152746200562},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6164741516113281},{"id":"https://openalex.org/C153946474","wikidata":"https://www.wikidata.org/wiki/Q333921","display_name":"Magnetometer","level":3,"score":0.5986337065696716},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.5896674394607544},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5584920644760132},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5196572542190552},{"id":"https://openalex.org/C546215728","wikidata":"https://www.wikidata.org/wiki/Q39531","display_name":"Bluetooth","level":3,"score":0.5163553953170776},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.46283602714538574},{"id":"https://openalex.org/C2778361833","wikidata":"https://www.wikidata.org/wiki/Q34735","display_name":"Compass","level":2,"score":0.4283522665500641},{"id":"https://openalex.org/C146160929","wikidata":"https://www.wikidata.org/wiki/Q751290","display_name":"Euler angles","level":2,"score":0.42695823311805725},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.3602938652038574},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2849460244178772},{"id":"https://openalex.org/C115260700","wikidata":"https://www.wikidata.org/wiki/Q11408","display_name":"Magnetic field","level":2,"score":0.2591087818145752},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.24390104413032532},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17821794748306274},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16304785013198853},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.10311493277549744},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2012.6491298","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2012.6491298","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8700000047683716,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1496212613","https://openalex.org/W1989687011","https://openalex.org/W2040378481","https://openalex.org/W2078557296","https://openalex.org/W2144994235","https://openalex.org/W2151144618","https://openalex.org/W2159011472","https://openalex.org/W2161872204","https://openalex.org/W2169122708","https://openalex.org/W6684946058"],"related_works":["https://openalex.org/W1973973903","https://openalex.org/W4287084017","https://openalex.org/W3195533899","https://openalex.org/W3179745820","https://openalex.org/W3208523813","https://openalex.org/W2417091022","https://openalex.org/W2594666386","https://openalex.org/W2359095091","https://openalex.org/W2000754062","https://openalex.org/W2545638156"],"abstract_inverted_index":{"This":[0,133],"paper":[1],"presents":[2,135],"the":[3,18,34,85,104,109,114,124,149,160,163,166],"performance":[4,102,157],"evaluation":[5],"of":[6,99,108,165],"our":[7,96],"wireless":[8,53,150],"miniature":[9],"Inertial":[10],"Measurement":[11],"Unit":[12],"(IMU)":[13],"WB-4":[14,40,100,151],"by":[15],"compared":[16],"with":[17,56,69],"Vicon":[19],"motion":[20,47],"capture":[21],"system.":[22],"In":[23,95],"particular,":[24],"a":[25,44,49,59,70,120,136],"magnetic":[26,137,167],"field":[27],"calibration":[28,106,138,168],"method":[29,139],"is":[30,67],"introduced":[31],"to":[32,83,129,182],"improve":[33],"sensor":[35,86,115],"orientation":[36,87,156],"estimate":[37,84],"accuracy.":[38],"The":[39,65,144,170],"IMU":[41,101,152],"primarily":[42],"contains":[43],"motherboard":[45,66],"for":[46,52,62,113,140],"sensing,":[48],"Bluetooth":[50],"module":[51],"data":[54],"transmission":[55],"PC,":[57],"and":[58,73,80,131],"Li-Polymer":[60],"battery":[61],"power":[63],"supply.":[64],"provided":[68],"32-bit":[71],"microcontroller":[72],"3-axis":[74,78,81],"miniaturized":[75],"MEMS":[76],"accelerometer,":[77],"gyroscope":[79],"magnetometer":[82,110],"based":[88],"on":[89,123],"an":[90],"extended":[91],"Kalman":[92],"filter":[93],"algorithm.":[94],"previous":[97,178],"research":[98],"evaluation,":[103],"factory":[105],"parameters":[107],"were":[111],"used":[112],"fusion,":[116],"which":[117],"resulted":[118],"in":[119,127,158],"higher":[121],"error":[122,179],"yaw":[125,171],"angle":[126,172],"respect":[128],"roll":[130],"pitch.":[132],"study":[134],"overcoming":[141],"that":[142,148],"limitation.":[143],"experimental":[145],"results":[146],"showed":[147],"could":[153],"achieve":[154],"better":[155],"all":[159],"directions":[161],"after":[162],"implementation":[164],"method.":[169],"accuracy":[173],"was":[174],"significantly":[175],"improved":[176],"from":[177],"5.46":[180],"degree":[181],"1.77":[183],"degree.":[184]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}