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 |