Develop and implement Inertial Measurement algorithms for 9-DOF IMU positioning in Matlab and Simulink, without the use of external references like GPS. The algorithms should only use the data from a 3-DOF accelerometer, 3-DOF gyro and 3-DOF magnetometer and result in xy-koordinates in 2D-plane and a graphical representation, in real-time. The coordinates should be relative to the starting point, and should handle both linear movement, yaw, pitch and roll. The use of the algorithms are in a pen-device that uses only inertial measurement units to trace handwriting. Examples of methods that can be exploited are Extended Kalman Filters and Attitude estimation and reference heading systems. Mahoney's research can also be exploited.
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The final delivery should be a Matlab and Simulink framework where it is possible to connect 9-DOF IMUs and in real-time get a graphical representation of the movement of the IMUs in 2D-space, as well as the xy-koordinates of the movement. The accuracy of the position should at a minimum be good enough for use with OCR, and for writing single words.