Table 5.

CoG Position and linear acceleration estimations NMSE in the period (30–40 s).

Axis	CoG Position		Linear Acceleration
	First Version	Second Version	First Version	Second Version
X	2.4252e−06	1.0008e−06	--*	--*
Y	1.3992e−05	1.3390e−05	6.3191e−06	5.1146e−06
Z	1.5306e−05	4.4980e−06	2.7849e−06	2.3104e−06

^*The NMSE of the X-axis linear acceleration was undefined in this interval; since its true value was zero.