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. 2020 Jun 22;20(12):3529. doi: 10.3390/s20123529

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© 2020 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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The same inertial measurement unit (IMU) device composed by accelerometers (A), a gyroscope (B) and a magnetometer (C). Legend: (A) a_x, a_y and a_z = linear acceleration on the three axis x, y and z; (B) α_x, α_y and α_z = angular acceleration on the three axis x, y and z and (C) μ_x, μ_y and μ_z = magnetic moment on the three axis x, y and z.