Human Motion Capture Algorithm Based on Inertial Sensors

Table 5

Comparison of the calculated angle errors obtained with proposed algorithm and the adaptive 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 adaptive complementary filter (°)	Yaw	0.04	0.13	0.52	−0.65	−0.09	0
	Pitch	0.02	0.32	0.60	1.11	−0.21	−0.12
	Roll	0.03	−0.56	−0.65	−0.89	−0.42	−0.13