%PDF-1.5 % 1 0 obj << /S /GoTo /D (section.1) >> endobj 4 0 obj (Overview of Inertial Measurement Units) endobj 5 0 obj << /S /GoTo /D (section.2) >> endobj 8 0 obj (The VRduino) endobj 9 0 obj << /S /GoTo /D (section.3) >> endobj 12 0 obj (Orientation Tracking in Flatland) endobj 13 0 obj << /S /GoTo /D (subsection.3.1) >> endobj 16 0 obj (Integrating Gyro Measurements) endobj 17 0 obj << /S /GoTo /D (subsection.3.2) >> endobj 20 0 obj (Estimating the Angle from the Accelerometer) endobj 21 0 obj << /S /GoTo /D (subsection.3.3) >> endobj 24 0 obj (Drift Correction via Complementary Filtering) endobj 25 0 obj << /S /GoTo /D (section.4) >> endobj 28 0 obj (Estimating Pitch and Roll from a 3-axis Accelerometer) endobj 29 0 obj << /S /GoTo /D (section.5) >> endobj 32 0 obj (Orientation Tracking with Quaternions) endobj 33 0 obj << /S /GoTo /D (subsection.5.1) >> endobj 36 0 obj (Integrating 3-axis Gyro Measurements) endobj 37 0 obj << /S /GoTo /D (subsection.5.2) >> endobj 40 0 obj (Estimating Tilt with the Accelerometer) endobj 41 0 obj << /S /GoTo /D (subsection.5.3) >> endobj 44 0 obj (Tilt Correction with the Complementary Filter) endobj 45 0 obj << /S /GoTo /D (subsection.5.4) >> endobj 48 0 obj (Integration into the Graphics Pipeline) endobj 49 0 obj << /S /GoTo /D (subsubsection.5.4.1) >> endobj 52 0 obj (Visualizing Quaternion Rotation with a Test Object) endobj 53 0 obj << /S /GoTo /D (subsubsection.5.4.2) >> endobj 56 0 obj (Using Quaternion Rotation to Control the Viewer in VR) endobj 57 0 obj << /S /GoTo /D (section.6) >> endobj 60 0 obj (Appendix A: Quaternion Algebra Reference) endobj 61 0 obj << /S /GoTo /D [62 0 R /Fit] >> endobj 64 0 obj << /Length 3256 /Filter /FlateDecode >> stream xZsܶ_q};M|(3ML:U&NPAJl+m#O%t"bwdqH=IymlrallQ- S$ՋߖϟLQ.M^"YzÐ\i۳bUbUY4Ζ܍nletiW/zl^ɲ3kbv? t*Z* QƚP6͘~ g"߆ѵ;ZL|[U%r?QoWX.Tn?*43U*+&j2[ uI-Nv5;kǀm=V y1xq;!]I5/;`3b,wȋ',a/<B˦dK1z!a+`c`6`?N 嵍0~{aUhw p߭gf"7K#[o &q$Kua{`FHiMK)ߴ`BK?;/zh;\7W8NL8vGx˴(AeryY5 L+DIr pMJ죓$YxMﮚ IRlCR<9 ?y$ :2S6)nz(&vS6 ~۶;Gaw[\;Vyk+_??ݎ u=ċ@ն/ usZNoDB W1mYto?tlDRUB&P^%4h_wD2 Tz$VeHܾ`QX.,ooQX)A@V7$g~mQHD.$t 7 ,JE((!\(Kx׀4=˳oU[T2A@3GC D<1}^[QV_ 1sf/ @HC_wm$Q|>m;ڛ)$~6tM䦘Vd(m2'A