Abstract
In inertia-based absolute motion tracking systems, the linear and angular velocities and displacements are calculated from integration and double integration of acceleration data over time, respectively. Therefore, any errors and uncertainties of the process are cumulative. In a system where acceleration is transmitted wirelessly, packet loss results in rapid error accumulation over time. In this thesis, we present EcoGinie, a packet loss recovery scheme designed for gyrofree inertial measurement unit (GF-IMU) in motion tracking applications. It performs on-node integration that utilizes the MCU and software of GF-IMU and to help recover the data from lost packets. Furthermore, EcoGinie also incorporates the idea of Forward Error Correction (FEC) and adds redundancy in the packets to enable the host to correct errors. We simulate the packet loss environment and evaluate two kinds of packet loss pattern: random and bursty packet loss with various packet loss rates. The experimental results show EcoGinie recovers from the tracking distortions in linear motion especially when bursty loss happens at the moment the motion occurs.