BMC research notes · 2026
Research note on gravity artifact reduction in IMU signals using Madgwick orientation estimation.
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Toppmöller Moritz, Albrecht Urs-Vito
Аннотация
OBJECTIVE: Gravitational artifacts bias Inertial Measurement Unit (IMU) signals, complicating applications such as Seismocardiography (SCG). This study aimed to validate a gravity-artifact reduction algorithm using Madgwick orientation estimation in a controlled, physics-based simulation.
RESULTS: A computational phantom was developed using the PyBullet physics engine to generate paired datasets of gravity-free acceleration and simulated IMU signals (with gravitational artifacts). The Madgwick Attitude and Heading Reference System (AHRS) filter was applied to estimate the sensor orientation, followed by a low-pass-filtered gravity projection to subtract artifacts. The gravity-removed acceleration closely matched the gravity-free reference across all axes. Absolute mean differences were consistently below 0.006 m/s2, and Pearson correlation coefficients exceeded 0.98. Cross-correlation analysis revealed zero temporal lag, while Bland-Altman analysis showed no proportional bias. The highest precision was observed along the gravitational z-axis. These simulation-only results represent an upper bound under idealized conditions. Experimental validation remains necessary before practical deployment.
RESULTS: A computational phantom was developed using the PyBullet physics engine to generate paired datasets of gravity-free acceleration and simulated IMU signals (with gravitational artifacts). The Madgwick Attitude and Heading Reference System (AHRS) filter was applied to estimate the sensor orientation, followed by a low-pass-filtered gravity projection to subtract artifacts. The gravity-removed acceleration closely matched the gravity-free reference across all axes. Absolute mean differences were consistently below 0.006 m/s2, and Pearson correlation coefficients exceeded 0.98. Cross-correlation analysis revealed zero temporal lag, while Bland-Altman analysis showed no proportional bias. The highest precision was observed along the gravitational z-axis. These simulation-only results represent an upper bound under idealized conditions. Experimental validation remains necessary before practical deployment.