Performance Comparison of Sensor Implemented in Smartphones with X-IMU

  • Juraj Machaj
  • Jan Racko
  • Peter BridaEmail author
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9876)


In this paper a comparison of inertial sensors in smartphones and X-IMU (Inertial Measurement Unit) is presented. The goal of the experiment is to compare the performance of inertial sensors implemented in smartphones with special IMU. The orientation of the devices will be compared. Measuring data from accelerometer and gyroscope provide orientation estimation in three dimensional space and for this purpose orientation in all three axes is needed. Accelerometer measures acceleration and gyroscope measures angular velocity. Orientation can be calculated by using one sensor, but both are affected by negative parameters which make estimation imprecise. Accelerometers measure all forces acting on it including gravitation. This fact can be used to estimate orientation, however, output data of accelerometer are quite noisy. Another possibility how to obtain orientation estimate is integration of gyroscopes data, but this estimation is insufficient due to bias. Combination of output data from both sensors, more precise orientation estimation can be obtained. Combination of sensors is called sensor fusion and is done by using Complementary filter based on Euler angles.


Data fusion Complementary filter Orientation Inertial measurement unit 



This work was partially supported by the Slovak VEGA grant agency, Project No. 1/0263/16, by EUREKA project no. E! 6752 – DETECTGAME: R&D for Integrated Artificial Intelligent System for Detecting the Wildlife Migration and by Centre of excellence for systems and services of intelligent transport, ITMS 26220120050 supported by the Research & Development Operational Programme funded by the ERDF.

Authors thank to assoc. prof. Daniel Kacik, PhD. University of Žilina, Faculty of Electrical Engineering, Department of Physics, Slovakia, for his support with the performed experiments.


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  1. 1.Department of Telecommunications and MultimediaUniversity of ZilinaZilinaSlovakia

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