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. 2017 Apr 10;8:135. doi: 10.3389/fneur.2017.00135

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Copyright © 2017 Pham, Elshehabi, Haertner, Heger, Hobert, Faber, Salkovic, Ferreira, Berg, Sanchez-Ferro, van Dieën and Maetzler.

This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) or licensor are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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Six degrees of freedom attitude estimation. (A) Relationship between global frame (G-frame) and sensor frame (S-frame) was described by rotation matrix ^GSR. During stable phases, the accelerometer measures gravity g, and the gyroscope measures angular velocity [w_x w_y w_z], in sensor frame S. (B) Presence of an inclination angle ø led to a change from vertical axis ^GZ to $_{S}^{G} Z$ (gravity g was split into cosine and sine terms).