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Sample Data Sets for Inertial and Magnetic Sensors


Inertial and magnetic sensors have found their way into a multitude of consumer products, but many engineers have little or no experience with them. The data included here is provided for educational purposes. By comparing/contrasting the various data sets, engineers can develop a better understanding of the pros and cons of various filtering and data recognition approaches associated with these classes of device.

The report presents inertial/magnetic data captured via a third-party IMU (non-Freescale inertial measurement unit). The intent is to try to capture typical data sets for a variety of actions such as: lift, slide, tap, nudge, stationary (on table, in pocket), as well as inertial data for walking, standing stationary, etc. Graphs are generated of acceleration, magnetic readings and gyro readings over time. Basic statistics are attached for each data set.

See the Dataset Terms of Use Page regarding limitations of use.


Report Generated: 7/3/2011 19:17:3



Sample Data Sets


Click the listed items to see the data set.

Link to data file:
FastPickup.txt
Data set gathered:
Thursday 06 January 2011 - 12:50:24 PM
Comments:
Fast pickup of IMU
Additional Notes:
Quick grab of sensor which was previously lying stationary on a table top. This data set is 1 of 3: Fast Pickup, Pickup, Slow Pickup. They vary only in the speed at which the IMU was manually picked up from the table top.
PSD Plot Y Scale:
Linear
Data Plots
Collected data includes accelerometer, magnetometer and gyro measurements. Raw data is plotted for each, along with a Power Spectral Density plot of the data. Click on any plot to enlarge it.



FastPickup Sensor Statistics
Quantity Acceleration Magnetics Angular Velocity
Units milli-gs microteslas degrees/second
NumPoints 444 444 444
MaxTime 3.55 3.55 3.55
MaxX 1204.23 20.54 -446.88
MinX -782.31 13.22 -621.32
RangeX 1986.54 7.32 174.44
MaxY 1341.94 -6.88 -492.94
MinY -870.21 -17.28 -591.92
RangeY 2212.15 10.39 98.98
MaxZ 2092.02 28.89 -404.74
MinZ 137.71 20.54 -580.16
RangeZ 1954.31 8.34 175.42
Acceleration
Magnetics
Angular Velocity



Link to data file:
Nudge.txt
Data set gathered:
Thursday 06 January 2011 - 12:50:24 PM
Comments:
Horizontal nudge of IMU
Additional Notes:
Start with sensor stationary on table top, nudge it laterally.
PSD Plot Y Scale:
Linear
Data Plots
Collected data includes accelerometer, magnetometer and gyro measurements. Raw data is plotted for each, along with a Power Spectral Density plot of the data. Click on any plot to enlarge it.



Nudge Sensor Statistics
QuantityAccelerationMagneticsAngular Velocity
Unitsmilli-gsmicroteslasdegrees/second
NumPoints316316316
MaxTime 2.53 2.53 2.53
MaxX 90.83 18.89 -503.72
MinX -61.53 17.67 -505.68
RangeX 152.36 1.22 1.96
MaxY 322.30 -0.63 -522.34
MinY -348.67 -4.93 -525.28
RangeY 670.97 4.29 2.94
MaxZ 1051.87 28.74 -444.92
MinZ 1016.71 28.40 -532.14
RangeZ 35.16 0.34 87.22
Acceleration
Magnetics
Angular Velocity



Link to data file:
Pickup.txt
Data set gathered:
Thursday 06 January 2011 - 12:50:24 PM
Comments:
Simple pickup of IMU
Additional Notes:
The Pickup.dat data set starts with the sensor stationary on a table top. Then I simply picked up the sensor at a "normal rate". This data set is 2 of 3: Fast Pickup, Pickup, Slow Pickup. They vary only in the speed at which the IMU was manually picked up from the table top.
PSD Plot Y Scale:
Logarithmic
Data Plots
Collected data includes accelerometer, magnetometer and gyro measurements. Raw data is plotted for each, along with a Power Spectral Density plot of the data. Click on any plot to enlarge it.



Pickup Sensor Statistics
QuantityAccelerationMagneticsAngular Velocity
Unitsmilli-gsmicroteslasdegrees/second
NumPoints444444444
MaxTime 3.55 3.55 3.55
MaxX 190.45 21.18 -485.10
MinX -46.88 17.57 -551.74
RangeX 237.33 3.61 66.64
MaxY 222.68 -1.42 -496.86
MinY -199.24 -5.56 -548.80
RangeY 421.92 4.15 51.94
MaxZ 1195.44 28.50 -495.88
MinZ 922.95 25.13 -540.96
RangeZ 272.49 3.37 45.08
Acceleration
Magnetics
Angular Velocity



Link to data file:
Slide.txt
Data set gathered:
Thursday 06 January 2011 - 12:50:24 PM
Comments:
Horizontal slide of IMU
Additional Notes:
Horizontal slide of sensor on table top.
PSD Plot Y Scale:
Linear
Data Plots
Collected data includes accelerometer, magnetometer and gyro measurements. Raw data is plotted for each, along with a Power Spectral Density plot of the data. Click on any plot to enlarge it.



Slide Sensor Statistics
QuantityAccelerationMagneticsAngular Velocity
Unitsmilli-gsmicroteslasdegrees/second
NumPoints438438438
MaxTime 3.50 3.50 3.50
MaxX 131.85 18.45 -503.72
MinX -49.81 16.25 -507.64
RangeX 181.66 2.20 3.92
MaxY 202.17 -4.15 -522.34
MinY -260.77 -7.86 -524.30
RangeY 462.94 3.71 1.96
MaxZ 1043.08 28.89 -484.12
MinZ 1025.50 28.45 -524.30
RangeZ 17.58 0.44 40.18
Acceleration
Magnetics
Angular Velocity



Link to data file:
SlowPickup.txt
Data set gathered:
Thursday 06 January 2011 - 12:50:24 PM
Comments:
Slow pickup of IMU
Additional Notes:
Start with sensor stationary on table, slowly pick it up. This data set is 3 of 3: Fast Pickup, Pickup, Slow Pickup. They vary only in the speed at which the IMU was manually picked up from the table top.
PSD Plot Y Scale:
Linear
Data Plots
Collected data includes accelerometer, magnetometer and gyro measurements. Raw data is plotted for each, along with a Power Spectral Density plot of the data. Click on any plot to enlarge it.



SlowPickup Sensor Statistics
QuantityAccelerationMagneticsAngular Velocity
Unitsmilli-gsmicroteslasdegrees/second
NumPoints813813813
MaxTime 6.50 6.50 6.50
MaxX 20.51 18.50 -494.90
MinX -76.18 15.57 -520.38
RangeX 96.69 2.93 25.48
MaxY 38.09 -3.46 -517.44
MinY -251.98 -11.57 -530.18
RangeY 290.07 8.10 12.74
MaxZ 1087.03 28.74 -499.80
MinZ 978.62 26.94 -527.24
RangeZ 108.41 1.81 27.44
Acceleration
Magnetics
Angular Velocity



Link to data file:
button_click.txt
Data set gathered:
Monday 14 February 2011 - 12:32:29 PM
Comments:
In this test, the sensor is being held stationary in left hand to simulate the case of a person studying a phone display, followed by click of left and right buttons.
PSD Plot Y Scale:
Logarithmic
Data Plots
Collected data includes accelerometer, magnetometer and gyro measurements. Raw data is plotted for each, along with a Power Spectral Density plot of the data. Click on any plot to enlarge it.



button_click Sensor Statistics
QuantityAccelerationMagneticsAngular Velocity
Unitsmilli-gsmicroteslasdegrees/second
NumPoints765765765
MaxTime 6.12 6.12 6.12
MaxX -418.99 -25.57 -447.86
MinX -805.75 -27.23 -538.02
RangeX 386.76 1.66 90.16
MaxY 281.28 1.12 -479.22
MinY -29.30 -3.07 -580.16
RangeY 310.58 4.20 100.94
MaxZ 1007.92 13.13 -509.60
MinZ 665.11 9.42 -530.18
RangeZ 342.81 3.71 20.58
Acceleration
Magnetics
Angular Velocity




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Link  Data File Format

Link  Inertial Measurement Unit