Robust Plug-and-Play Joint Axis Estimation Using Inertial Sensors

. 2020 Jun 22;20(12):3534. doi: 10.3390/s20123534

Algorithm 2 Gyroscope sample selection

Require: Gyroscope data

y_{ω}^{N}

, number of allowed measurements,

N_{max}

, window size n.

1:
if $N > N_{max}$ then
2:
Compute $s_{ω} (k), \forall k$ according to (43).
3:
Obtain the sorted order $k^{'}$ such that $s_{ω} (k^{'}) \leq s_{ω} (k^{'} + 1), \forall k^{'} \in (1, N - 1)$ .
4:
Remove the $N - N_{max}$ samples $y_{ω} (t_{k}), \forall k^{'} \in (N_{max} / 2 + 1, N - N_{max} / 2)$ from $y_{ω}$ .
5:
end if
6:
return $y_{ω}^{N_{max}}$