Wireless IMU 1.2

This application allows for the transmission of measurements from the inertial sensors on your phone to a computer within your network via UDP in CSV format (Comma-Separated Values).

Effectively transforming your phone into a wireless inertial measurement unit (IMU). The supported sensors include:

• Accelerometer
• Gyroscope
• Magnetometer

If your phone lacks any of these sensors, only data from the available sensors will be transmitted.

Example of a UDP packet:

890.71558, 3, 0.076, 9.809, 0.565, 4, -0.559, 0.032, -0.134, 5, -21.660,-36.960,-28.140

Timestamp [sec], sensorid, x, y, z, sensorid, x, y, z, sensorid, x, y, z

Sensor id:

• 3 - Accelerometer (m/s^2)
• 4 - Gyroscope (rad/s)
• 5 - Magnetometer (micro-Tesla uT)

The app can operate in the background and issues a warning dialog if not connected to a WiFi network.

An illustrative video showcases direct processing of the stream by a MATLAB script for Kalman Filtering. However, the usage and manipulation of the data are at the discretion of the user.

Below is a Python script that enables capturing the UDP data stream from your phone:

1. import socket, traceback
2. host = ''
3. port = 5555
4. s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
5. s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
6. s.setsockopt(socket.SOL_SOCKET, socket.SO_BROADCAST, 1)
7. s.bind((host, port))
8. while 1:
try: message, address = s.recvfrom(8192) print messageexcept (KeyboardInterrupt, SystemExit):raiseexcept:traceback.print_exc()