Table 4.

Second experiment: last 10 steps of 15 m walking trials estimation RMSE.

Mounted Sensor			Maximum Error	RMSE	Standard Deviation
Waist	Roll	KF1	5.79	4.77	0.07
		KF2	13.45	6.09	3.45
		Proposed	3.11	1.69	0.60
	Pitch	KF1	1.02	0.36	0.11
		KF2	15.48	8.78	2.38
		Proposed	0.59	0.20	0.09
Neck	Roll	KF1	4.25	3.65	0.16
		KF2	9.63	5.42	1.52
		Proposed	2.20	1.15	0.42
	Pitch	KF1	2.11	1.49	0.22
		KF2	5.25	2.18	1.32
		Proposed	1.46	0.90	0.22
Wrist	Roll	KF1	5.70	5.12	0.16
		KF2	21.54	9.90	5.61
		Proposed	3.03	1.77	0.58
	Pitch	KF1	2.49	1.21	0.70
		KF2	30.97	20.94	6.59
		Proposed	1.58	0.57	0.37