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. Author manuscript; available in PMC: 2020 Oct 1.
Published in final edited form as: IEEE Trans Haptics. 2019 May 2;12(4):563–570. doi: 10.1109/TOH.2019.2914441

Table 1.

Explanation of symbols used in Equations (1) and (2).

ax Acceleration in the X direction relative to the IMU sensor coordinate frame (m/s2)
ay Acceleration in the Y direction relative to the IMU sensor coordinate frame (m/s2)
az Acceleration in the Z direction relative to the IMU sensor coordinate frame (m/s2)
dt Measurement time interval (s)
θ Current needle angle relative to ground surface (deg)
θ0 Previous needle angle relative to ground surface (deg)
θx Needle angle derived from gravitational acceleration (deg)
ν Angular velocity measured by gyroscope (deg)