The technical note describes a methodology for the calibration and the drift compensation of a device with accelerometers and rate-gyroscopes. The methodology is based on a step-wise-motor approach and a simulation environment with the device simulation model for optimisation of the calibration parameters. The validation on a wide range of locomotion tasks performed by 30 subjects with some unbalance problems showed the feasibility of the methodology. In particular, a correlation was found between simulated and actual data (0.15 degrees in maximal value). Results also showed that the drift compensation procedure significantly improved the performances of the device.
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