Compression of Inertial and Magnetic Sensor Data for Network Transmission

This paper presents a compression method for inertial and magnetic sensor data, where compressed data are used to estimate some states. When sensor data are bounded, the proposed compression method guarantees that the compression error is smaller than a prespecified bound. How this error bound affects the compression ratio and the estimation performance is investigated. Using the compression error bound information in the filter algorithm, the estimation performance is improved.