Guidlines for Calibration and Drift Compensation of a Wearable Device with Rate-Gyroscopes and Accelerometers

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 (0.15deg in maximal value ). Results also showed that the drift compensation procedure significantly improved the performances of the device.