Movement analysis with inertial sensors: identification of noise covariance matrices to improve body segment orientation using Kalman filtering

Figures & data

Figure 1. Object equipped with both an IMU and five reflective markers.

Table 1. Main kinematic characteristics of the imposed movements.

Intensity	Slow	Inter.	Rapid
Acceleration (g)	0.03 ± 0.02	0.7 ± 0.5	4 ± 2
Rate of rotation (deg/s)	40 ± 20	300 ± 150	700 ± 400

Figure 2. RMS of the error against accelerometers and magnetometers uncertainties.