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Table 2 Performance index for the matricial global (\(\gamma\)C) and local (\(\gamma\)UC) filters, with \(\gamma\) varying between 1 and 4 reliable accelerometers, in which, each of the criteria [\(\Psi\) in (15)–(18), and \(\Upsilon\) in (26)–(28)] are applied in the matricial filters algorithms

From: Global Kalman filter approaches to estimate absolute angles of lower limb segments

Segments Filters criteria
4C 4UC 3C 3UC 2C 2UC 1C 1UC
Body 1.649 1.684 1.980 2.063 1.964 1.923 2.191 2.335
Thigh 0.926 0.937 0.652 0.702 0.664 0.772 0.815 0.810
Shank 0.783 0.818 0.858 0.956 0.568 0.660 0.606 1.656
Foot 1.456 1.439 1.618 1.586 1.470 1.453 1.359 1.316
Average 1.204 1.220 1.277 1.327 1.167 1.202 1.243 1.529
AR (%) 2.4 2.4 11.3 14.3 22.2 36.1 29.2 64
AGR (%) 2.4 9.4 15 15
  1. The accelerometer reliability (AR) and accelerometer global reliability (AGR) are also shown