Table 1.

QC Input Features.

Features Category	Aspect	Input Feature
AHRS accuracy	Environment	Deviation of the mean magnetic field from a reference value, for each module (inputs 1–2) Variance of the magnetic field signal around each module (inputs 3–4)
	Motion performed	Mean acceleration per module (inputs 5–6) Mean angular velocity per module (inputs 7–8)
	Direction of motion	Proportion of angular velocity measured on each axis (inputs 9–11 for module 1, inputs 12–14 for module 2)
Joint estimation accuracy	Environment	Difference between the two modules’ magnetic field (input 15)
		Difference between the two modules’ magnetic field in the previous sequence (input 16)