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Table 1 Tested methods for 3D displacement estimation

From: Fourier-based integration of quasi-periodic gait accelerations for drift-free displacement estimation using inertial sensors

Method

Strap-down quaternion

Sensor for stride segmentation

Integration method

Baseline method

OMCS-based

Shank gyroscope

Fourier-based

Method A

EKF-based

Shank gyroscope

Fourier-based

Method B

Initial value

Shank gyroscope

Fourier-based

Method C

EKF-based

Lower trunk accelerometer

Fourier-based

Method D

EKF-based

Shank gyroscope

Trapezoidal rule

Method E

EKF-based

None (high-pass filtering)

Trapezoidal rule