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-NXP 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