A Hybrid 6-DoF Pose Measurement System Using String Potentiometer and Dual IMUs

With the advancement of technology, six-degree-of-freedom (6-DoF) pose measurement plays an essential role in spatial metrology, yet existing methods often involve trade-offs between accuracy, cost, and deployment complexity. In particular, optical and inertial systems may require line-of-sight, extensive calibration, or high power consumption, limiting their use in resource-constrained settings. This paper proposes a novel hybrid 6-DoF measurement system that integrates a string potentiometer with dual inertial measurement units (IMUs). By combining cable extension sensing with orientation data through geometric modeling, the system enables real-time pose estimation without the need for external infrastructure. To validate the approach, experiments were conducted on objects with diverse geometries, including linear, angular, and curved features. The results show that the system consistently achieves millimeter-level spatial accuracy under standard indoor conditions, which suggests that the proposed method offers a practical and sustainable alternative for portable 6-DoF tracking. It may also inform the development of low-cost measurement tools in applied metrology.