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Table 3 Root mean square errors for results obtained from two extended Kalman filters and 3D motion analysis system results (participant A)

From: Pose estimation by extended Kalman filter using noise covariance matrices based on sensor output

Noise covariance matrix RMSE [deg]
Ankle joint Knee joint Hip joint
NBS 3.17 2.41 3.18
NBS (Only process noise) 4.80 3.24 3.41
NBS (Only observation noise) 4.71 2.57 3.22
CNC 4.88 2.54 3.24