A MAG-muIMU which is based on MEMS gyroscopes, accelerometers, and magnetometers
is developed for real-time estimation of human hand motions. Appropriate filtering,
transformation and sensor fusion techniques are combined in the ubiquitous digital writing
instrument to record handwriting on any surface. In this paper, we discuss the design of an
extended Kalman filter based on MAG-muIMU (micro inertial measurement unit with
magnetometers) for real-time attitude tracking. The filter utilizes the gyroscope propagation …

A MAG-^ iIMU which is based on MEMS gyroscopes, accelerometers, and magnetometers is
developed for real-time estimation of human hand motions. Appropriate filtering,
transformation and sensor fusion techniques are combined in the Ubiquitous Digital Writing
Instrument to record handwriting on any surface. In this thesis, we discuss the design of an
extended Kalman filter (EKF) based on MAG-jilMU (Micro Inertial Measurement Unit with
Magnetometers) for real-time attitude tracking and the implement to record handwriting. In …