Table 2.

Confusion matrix of the average recognition accuracy of the simplest features of the fusion signal (%).

	Walking on flat ground	Go up the stairs	Down the stairs	Uphill	Downhill
Walking on flat ground	98	0	0	2	0
Go up the stairs	0	97	1	1	1
Down the stairs	0	2	96	1	1
Uphill	0	3	1	96	0
Downhill	0	4	2	1	93