Human Motion Capture Algorithm Based on Inertial Sensors

Table 2

Comparison of the calculated angle errors obtained with proposed algorithm and the complementary filter.

Sampling point	Axis	0	200	400	600	800	1,000
Angle error of proposed method (°)	Yaw	0	0.11	0.89	−0.09	−0.01	0
	Pitch	0.01	0.51	0.49	2.11	−0.03	−0.01
	Roll	0	−0.41	−0.43	−0.39	−0.04	0.01
Angle error of complementary filter (°)	Yaw	0.09	0.15	−0.27	−1.11	−0.09	0.01
	Pitch	0	−0.14	0.78	0.42	−0.47	−0.04
	Roll	0.12	−0.86	−0.83	−1.02	−0.79	−0.21