**2.2 Integrated GPS-IMU data collection**

Using the Arduino-based integrated GPS-IMU device with sensor fusion algorithm, a total of 2521 row data of GPS latitude and longitude, triaxial accelerometer, and triaxial magnetometer information were collected. The device was mounted in front of a testing vehicle while the circuit testing was conducted, starting from a specific point at Lumban, Laguna, and ending at De La Salle University (DLSU) Manila Campus.

The data from RTK-GPS with an integrated IMU sensor is acquired and logged through the connected SD card in the Arduino, and it automatically saves all the collected data in Comma Separated Values (CSV) files to be able to present the data in tabular format and efficient data processing. To verify if the collected actual data has significant errors, the collected GPS latitude and longitude data from the testing route were plotted into a map, as seen in **Figure 5** (in red pin markers). The plotting of GPS latitude and longitude coordinates started by converting the saved CSV file into GPS eXchange Format (GPX) to properly store, exchange, and map GPS location data. MyGeodata Cloud is used in the conversion; this is an online converter tool that allows users to convert CSV files to GPX format in batch. Using Google Maps, the GPX file containing the collected GPS latitude and longitude is imported, and the map waypoints are automatically added and plotted. For the reference GPS points of latitude and longitude, the reference route is extracted from Google Maps and then converted to a GPX file. This GPX file is also plotted in Google Maps, as seen in **Figure 5** (the blue line), for comparison and visualization. The collected reference GPS latitude and longitude data were also utilized as the target output for the prediction models. Thus, **Figure 5** clearly represents the reference GPS data in the blue line and the plotted collected GPS data in red pin markers. From **Figure 6**, it is evident that the collected GPS data are not close to the reference route (blue line), which shows that there are inconsistencies and errors with the collected GPS data. The error is too large, which should be corrected using the ANFIS tool.

### **Figure 5.**

*Mapped collected GPS data points (red pin markers) and reference route (blue line) from Lumban, Laguna to DLSU.*

**Figure 6.** *Inconsistencies and errors of collected GPS data (red pin markers) with respect to the reference route (blue line).*
