{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T02:02:38Z","timestamp":1760148158894,"version":"build-2065373602"},"reference-count":38,"publisher":"MDPI AG","issue":"8","license":[{"start":{"date-parts":[[2023,4,7]],"date-time":"2023-04-07T00:00:00Z","timestamp":1680825600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/100000001","name":"The National Science Foundation (NSF)","doi-asserted-by":"publisher","award":["CNS-1920182"],"award-info":[{"award-number":["CNS-1920182"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]},{"name":"FIU Dissertation Year Fellowship (DYF)","award":["CNS-1920182"],"award-info":[{"award-number":["CNS-1920182"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In this paper, we present the FIU MARG Dataset (FIUMARGDB) of signals from the tri-axial accelerometer, gyroscope, and magnetometer contained in a low-cost miniature magnetic\u2013angular rate\u2013gravity (MARG) sensor module (also known as magnetic inertial measurement unit, MIMU) for the evaluation of MARG orientation estimation algorithms. The dataset contains 30 files resulting from different volunteer subjects executing manipulations of the MARG in areas with and without magnetic distortion. Each file also contains reference (\u201cground truth\u201d) MARG orientations (as quaternions) determined by an optical motion capture system during the recording of the MARG signals. The creation of FIUMARGDB responds to the increasing need for the objective comparison of the performance of MARG orientation estimation algorithms, using the same inputs (accelerometer, gyroscope, and magnetometer signals) recorded under varied circumstances, as MARG modules hold great promise for human motion tracking applications. This dataset specifically addresses the need to study and manage the degradation of orientation estimates that occur when MARGs operate in regions with known magnetic field distortions. To our knowledge, no other dataset with these characteristics is currently available. FIUMARGDB can be accessed through the URL indicated in the conclusions section. It is our hope that the availability of this dataset will lead to the development of orientation estimation algorithms that are more resilient to magnetic distortions, for the benefit of fields as diverse as human\u2013computer interaction, kinesiology, motor rehabilitation, etc.<\/jats:p>","DOI":"10.3390\/s23083786","type":"journal-article","created":{"date-parts":[[2023,4,7]],"date-time":"2023-04-07T04:04:16Z","timestamp":1680840256000},"page":"3786","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Benchmarking Dataset of Signals from a Commercial MEMS Magnetic\u2013Angular Rate\u2013Gravity (MARG) Sensor Manipulated in Regions with and without Geomagnetic Distortion"],"prefix":"10.3390","volume":"23","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2014-5816","authenticated-orcid":false,"given":"Pontakorn","family":"Sonchan","sequence":"first","affiliation":[{"name":"Electrical and Computer Engineering Department, Florida International University, Miami, FL 33174, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1891-2115","authenticated-orcid":false,"given":"Neeranut","family":"Ratchatanantakit","sequence":"additional","affiliation":[{"name":"Electrical and Computer Engineering Department, Florida International University, Miami, FL 33174, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Nonnarit","family":"O-larnnithipong","sequence":"additional","affiliation":[{"name":"Electrical and Computer Engineering Department, Florida International University, Miami, FL 33174, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Malek","family":"Adjouadi","sequence":"additional","affiliation":[{"name":"Electrical and Computer Engineering Department, Florida International University, Miami, FL 33174, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5572-284X","authenticated-orcid":false,"given":"Armando","family":"Barreto","sequence":"additional","affiliation":[{"name":"Electrical and Computer Engineering Department, Florida International University, Miami, FL 33174, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2023,4,7]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1911","DOI":"10.1109\/T-ED.1979.19795","article-title":"A batch-fabricated silicon accelerometer","volume":"26","author":"Roylance","year":"1979","journal-title":"IEEE Trans. Electron Devices"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"8","DOI":"10.1016\/j.sna.2004.06.033","article-title":"Development and analysis of the vertical capacitive accelerometer","volume":"119","author":"Lee","year":"2005","journal-title":"Sens. Actuators A Phys."},{"key":"ref_3","unstructured":"Johnson, R.C. (2023, February 15). 3-Axis MEMs gyro chip debuts. Available online: https:\/\/www.eetimes.com\/3-axis-mems-gyro-chip-debuts\/."},{"key":"ref_4","doi-asserted-by":"crossref","unstructured":"Titterton, D.H., Weston, J.L., and Institution of Electrical Engineers (2004). Strapdown Inertial Navigation Technology, Institution of Electrical Engineers.","DOI":"10.1049\/PBRA017E"},{"key":"ref_5","unstructured":"Savage, P.G. (2000). Strapdown Analytics, Strapdown Associates."},{"key":"ref_6","unstructured":"Woodman, O.J. (2007). An Introduction to Inertial Navigation, University of Cambridge. Technical Report No. 696, UCAM-CL-TR-696."},{"key":"ref_7","unstructured":"Aggarwal, P. (2010). MEMS-Based Integrated Navigation, Artech House."},{"key":"ref_8","unstructured":"Stanney, K.M. (2002). Handbook of Virtual Environments, Design, Implementation, and Applications, Lawrence Earlbaum Associates."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"67","DOI":"10.1016\/j.inffus.2020.10.018","article-title":"40 years of sensor fusion for orientation tracking via magnetic and inertial measurement units: Methods, lessons learned, and future challenges","volume":"68","author":"Nazarahari","year":"2021","journal-title":"Inf. Fusion"},{"key":"ref_10","doi-asserted-by":"crossref","unstructured":"Ro, H., Byun, J.-H., Park, Y.J., Lee, N.K., and Han, T.-D. (2019). AR Pointer: Advanced Ray-Casting Interface Using Laser Pointer Metaphor for Object Manipulation in 3D Augmented Reality Environment. Appl. Sci., 9.","DOI":"10.3390\/app9153078"},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"70","DOI":"10.1186\/1743-0003-11-70","article-title":"Assessment of hand kinematics using inertial and magnetic sensors","volume":"11","author":"Kortier","year":"2014","journal-title":"J. Neuroeng. Rehabil."},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"298","DOI":"10.1016\/j.inffus.2022.09.017","article-title":"A sensor fusion approach to MARG module orientation estimation for a real-time hand tracking application","volume":"90","author":"Ratchatanantakit","year":"2023","journal-title":"Inf. Fusion"},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"535","DOI":"10.1016\/j.gaitpost.2008.12.004","article-title":"Magnetic distortion in motion labs, implications for validating inertial magnetic sensors","volume":"29","author":"Veeger","year":"2009","journal-title":"Gait Posture"},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"239","DOI":"10.1016\/j.gaitpost.2016.11.008","article-title":"25 years of lower limb joint kinematics by using inertial and magnetic sensors: A review of methodological approaches","volume":"51","author":"Picerno","year":"2017","journal-title":"Gait Posture"},{"key":"ref_15","doi-asserted-by":"crossref","unstructured":"Szcz\u0119sna, A., Skurowski, P., Pruszowski, P., P\u0119szor, D., Paszkuta, M., and Wojciechowski, K. (2016, January 10). Reference Data Set for Accuracy Evaluation of Orientation Estimation Algorithms for Inertial Motion Capture Systems. Proceedings of the Computer Vision and Graphics, Cham, Switzerland.","DOI":"10.1007\/978-3-319-46418-3_45"},{"key":"ref_16","doi-asserted-by":"crossref","unstructured":"Angermann, M., Robertson, P., Kemptner, T., and Khider, M. (2010, January 15\u201317). A high precision reference data set for pedestrian navigation using foot-mounted inertial sensors. Proceedings of the 2010 International Conference on Indoor Positioning and Indoor Navigation, Zurich, Switzerland.","DOI":"10.1109\/IPIN.2010.5646839"},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"2033","DOI":"10.1016\/j.patrec.2012.12.014","article-title":"The Opportunity challenge: A benchmark database for on-body sensor-based activity recognition","volume":"34","author":"Chavarriaga","year":"2013","journal-title":"Pattern Recognit. Lett."},{"key":"ref_18","doi-asserted-by":"crossref","unstructured":"Banos, O., Calatroni, A., Damas, M., Pomares, H., Rojas, I., Sagha, H., Mill\u2019n, J.d.R., Troster, G., Chavarriaga, R., and Roggen, D. (2012, January 18\u201322). Kinect=IMU? Learning MIMO Signal Mappings to Automatically Translate Activity Recognition Systems across Sensor Modalities. Proceedings of the 2012 16th International Symposium on Wearable Computers, Newcastle, UK.","DOI":"10.1109\/ISWC.2012.17"},{"key":"ref_19","unstructured":"Szcz\u0119sna, A. (2023, February 15). RepoIMU: Reference Data Set for Accuracy Evaluation of Orientation Estimation Algorithms for Inertial Motion. Capture Systems. Available online: https:\/\/github.com\/agnieszkaszczesna\/RepoIMU."},{"key":"ref_20","unstructured":"YostLabs (2023, February 15). 3-Space Nano IC-Product Description Page. Available online: https:\/\/yostlabs.com\/product\/3-space-nano\/."},{"key":"ref_21","unstructured":"Xsens (2023, February 15). MTi-G Miniature AHRS with Integrated GPS. Available online: https:\/\/studylib.net\/doc\/18864299\/xsens2020503-brochure-mti."},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"3408","DOI":"10.1109\/JSEN.2020.3024806","article-title":"Orientation Estimation Through Magneto-Inertial Sensor Fusion: A Heuristic Approach for Suboptimal Parameters Tuning","volume":"21","author":"Caruso","year":"2021","journal-title":"IEEE Sens. J."},{"key":"ref_23","unstructured":"Caruso, M. (2023, February 15). MIMU_OPTICAL_SASSARI_DATASET. Available online: https:\/\/ieee-dataport.org\/documents\/mimuopticalsassaridataset."},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"8","DOI":"10.1016\/j.inffus.2021.04.009","article-title":"Sensor fusion algorithms for orientation tracking via magnetic and inertial measurement units: An experimental comparison survey","volume":"76","author":"Nazarahari","year":"2021","journal-title":"Inf. Fusion"},{"key":"ref_25","unstructured":"Nazarahari, M. (2023, February 15). Sensor Fusion Algorithm for MIMU Data. Available online: https:\/\/www.ncbl.ualberta.ca\/sensor-fusion."},{"key":"ref_26","unstructured":"Roetenberg, D., Luinge, H., and Veltink, P. (2003, January 7\u201310). Inertial and magnetic sensing of human movement near ferromagnetic materials. Proceedings of the Second IEEE and ACM International Symposium on Mixed and Augmented Reality, Washington, DC, USA."},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"395","DOI":"10.1109\/TNSRE.2005.847353","article-title":"Compensation of magnetic disturbances improves inertial and magnetic sensing of human body segment orientation","volume":"13","author":"Roetenberg","year":"2005","journal-title":"IEEE Trans. Neural Syst. Rehabil. Eng."},{"key":"ref_28","doi-asserted-by":"crossref","unstructured":"Ratchatanantakit, N., O-larnnithipong, N., Barreto, A., and Tangnimitchok, S. (2019, January 26\u201331). Consistency Study of 3D Magnetic Vectors in an Office Environment for IMU-based Hand Tracking Input Development. Proceedings of the Human-Computer Interaction. Recognition and Interaction Technologies, Cham, Switzerland.","DOI":"10.1007\/978-3-030-22643-5_29"},{"key":"ref_29","unstructured":"YostLabs (2017). 3-Space Sensor Miniature Attitude & Heading Reference System With Pedestrian Tracking User\u2019s Manual."},{"key":"ref_30","doi-asserted-by":"crossref","unstructured":"Hislop, J., Isaksson, M., McCormick, J., and Hensman, C. (2021). Validation of 3-Space Wireless Inertial Measurement Units Using an Industrial Robot. Sensors, 21.","DOI":"10.3390\/s21206858"},{"key":"ref_31","unstructured":"OptiTrack (2023, February 15). Specifications of the V120:Trio Motion Capture System. Available online: https:\/\/optitrack.com\/cameras\/v120-trio\/specs.html."},{"key":"ref_32","doi-asserted-by":"crossref","first-page":"6628320","DOI":"10.1155\/2021\/6628320","article-title":"Inertial-Based Human Motion Capture: A Technical Summary of Current Processing Methodologies for Spatiotemporal and Kinematic Measures","volume":"2021","author":"Hindle","year":"2021","journal-title":"Appl. Bionics Biomech."},{"key":"ref_33","unstructured":"Mathworks (2023, February 15). dist: Angular Distance in Radians. Available online: https:\/\/www.mathworks.com\/help\/nav\/ref\/quaternion.dist.html."},{"key":"ref_34","doi-asserted-by":"crossref","unstructured":"O-larnnithipong, N., and Barreto, A. (November, January 30). Gyroscope drift correction algorithm for inertial measurement unit used in hand motion tracking. Proceedings of the 2016 IEEE SENSORS, Orlando, FL, USA.","DOI":"10.1109\/ICSENS.2016.7808525"},{"key":"ref_35","unstructured":"O-larnnithipong, N., Barreto, A.B., Ratchatanantakit, N., Tangnimitchok, S., and Ortega, F.R. (2018). Universal Access in Human-Computer Interaction. Methods, Technologies, and Users, Proceedings of the 12th International Conference, UAHCI 2018, Las Vegas, NV, USA, 15\u201320 July 2018, Springer International Publishing."},{"key":"ref_36","doi-asserted-by":"crossref","first-page":"237","DOI":"10.1016\/j.jbiomech.2017.05.006","article-title":"Accuracy map of an optical motion capture system with 42 or 21 cameras in a large measurement volume","volume":"58","author":"Aurand","year":"2017","journal-title":"J. Biomech."},{"key":"ref_37","doi-asserted-by":"crossref","first-page":"2085","DOI":"10.1016\/j.jbiomech.2016.05.007","article-title":"Analysis of accuracy in optical motion capture\u2013A protocol for laboratory setup evaluation","volume":"49","author":"Eichelberger","year":"2016","journal-title":"J. Biomech."},{"key":"ref_38","doi-asserted-by":"crossref","unstructured":"Vince, J. (2011). Quaternions for Computer Graphics, Springer.","DOI":"10.1007\/978-0-85729-760-0"}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/23\/8\/3786\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,10]],"date-time":"2025-10-10T19:11:47Z","timestamp":1760123507000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/23\/8\/3786"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,4,7]]},"references-count":38,"journal-issue":{"issue":"8","published-online":{"date-parts":[[2023,4]]}},"alternative-id":["s23083786"],"URL":"https:\/\/doi.org\/10.3390\/s23083786","relation":{},"ISSN":["1424-8220"],"issn-type":[{"type":"electronic","value":"1424-8220"}],"subject":[],"published":{"date-parts":[[2023,4,7]]}}}