# Multi-Sensor System for Analysis of Maneuver Performance in Olympic Sailing
## 2 System Setup, Test, and Data Processing Method
### Hardware Architecture  
The proposed system, seen in Figure 1, consists of multiple off-the-shelf electronic components, combined with custom mounts tailored to the boat (see Figure 2a,b), and software to enable data logging of the movements. Additionally, a commercially available sensor package, the AdMos sensor, was included to enhance data collection and validate GNSS accuracy. A GoPro was also mounted to be able to visually verify motion patterns in maneuvers during data processing.  
All components used in the multi-sensor system are listed below:  
* ESP-WROOM-32 ESP32 Development Board [25];
* Push button for start/stop of the data logger;
* SD card module [26];
* BNO055-Adafruit 9-DOF Absolute Orientation IMU [27];
* GNSS module NEO 9M [28];
* [PERSON] PT15 LV02253A3030 25K potentiometer [29];
* Wire-Wound Multi-Turn Potentiometer MT22 Series [30];
* AdMos GNSS IMU logger [31];
* Sanstrom S612 PPW14 PowerBank [32];
* LED indicator light;
* GoPro HERO10 [33].  
The components were placed on multiple different locations on the dinghy (Figure 2c). Most were located in a \"mechatronics hub\" (Figure 1A) placed in the well towards the bow below the hiking strap. The AdMos was also placed inside this hub (Figure 1C). The placement was decided in consultation with the sailor who would be performing the field  
Figure 1: Hardware schematics. (**A**) Mechatronics hub, (**B1**) rudder rotary sensor, (**B2**) mast rotary sensor, (**C**) AdMos, (**D**) camera. 1: ESP32; 2: Powerbank; 3: button; 4: LED light; 5: SD card module; 6: BNO055 IMU; 7: GNSS module NEO 9M; 8: Piher potentiometer; 9: MT22 Wire-Wound Multi-Turn Potentiometer; 10: AdMos; 11: GoPro.  
Figure 2: Presentation of the (**a**) rudder measurement fastening, (**b**) mast measurement fastening, and (**c**) sensor placements on the dinghy marked with red circles 1–4 from left to right and corresponding components; circle 1 (Figure 1B1), circle 2 (Figure 1A,C), circle 3 (Figure 1B2), and circle 4 (Figure 1D).  
testing. The unit served as a hub for synchronized data collection and storage, to minimize the size of the measurement components in critical areas around the rudder and mast.  
Rotary sensors (see Figure 1B1,B2) were placed on the bottom of the mast and at the rudder. These recorded the movements of these components in relation to the hull. The physical component layout of the mast and rudder sensors were prototyped in polyethylene terephthalate glycol (PETG) with threaded inserts and screws for a robust, waterproof, and modular setup. The sensors were waterproofed using custom PETG casings with cable glands mounted for the data transfer cables. The rudder sensor was mounted to the hull using a spring-loaded clamp mechanism between the two gudgeons holding the rudder (Figure 2a). The rotational axis was aligned with that of the rudder, and a u-shaped guiding rail claped onto the rudder head to measure angle changes. A spring-loaded belt drive system (Figure 2b) was developed to accommodate for longitudinal movement between the mast and hull. The mast rotation sensor system was attached to the hull using water-resistant double-sided tape, to allow non-intrusive mounting. The waterproofed rotary sensors for both rudder and mast were submerged in a lab for 2 h without leaking to verify functionality. Finally, the GoPro (see Figure 1D) was placed at the bow of the dinghy.