Figure 6.

Calibration validation results. Six measurements were performed, and for each measurement, the values detected by the 3D accelerometer were corrected using the obtained 3D accelerometer calibration parameters. The sensor orientations during the validation measurements were chosen to be the same as for the six calibration measurements; the sensor's intrinsic coordinate axes (x, y and z) were aligned in turn along (measurements 1, 2, and 3) and opposite to (measurements 4, 5, and 6) the direction of gravitational acceleration g. The data were captured at a sampling rate f_s = 1000 Hz.