Table 2.

Methods and parameters used in coarse and fine grid-search.

Type	Methods	Coarse Grid-Search	Fine Grid-Search
Orientation estimation	Madgwick CF	${\overline{\omega }}_{max}=\{2,4,6\}$	${\overline{\omega }}_{max}=\{1.0,1.5,2.0,2.5,3.0\}$
	Euston CF	$k_P=\{0.2,0.4,0.6\}$ $k_I=\{0,0.05\}$	$k_P=\{0.15,0.2,0.25\}$ $k_I=\{0,0.01\}$
	Gyroscope integration	Not applicable	Not applicable
Double integration	Direct and reverse integration	$\eta =\{0.1,0.2\}$ ${\alpha }_i=\{0.4,0.5,0.6\}$	$\eta =\{0.15,0.2,0.25\}$ ${\alpha }_i=0.55,0.6,0.65$
	Linear dedrifting	Not applicable	Not applicable
	Horizontal correction	{True, False}	{True}