Figure A4.

Visualization of the trajectory for a sample stride of the heel sensor. The upper plot shows the orientation $\overrightarrow{\alpha \left[t\right]}$ obtained by the quaternion based forward integration after converting the quaternions back to their angle representation. The lower plot shows the translation $\overrightarrow{s}\left[t\right]$ obtained by dedrifted double integration of the gravity corrected acceleration ${\overrightarrow{a}}_{gc}\left[t\right]$