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. 2017 Apr 29;17(5):988. doi: 10.3390/s17050988

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© 2017 by the authors.

Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).

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Comparison of techniques to calculate angular speed. (a) Angular velocity calculated from absolute orientation angles $ϕ$ , $θ$ and $ψ$ , obtained using a sensor fusion algorithm; (b) Angular speed calculated from raw gyroscope data.