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Quaternion-based fusion of gyroscopes and accelerometers to improve 3D angle measurement

Quaternion-based fusion of gyroscopes and accelerometers to improve 3D angle measurement

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Two methods to fuse a 3D gyroscope with a 3D accelerometer in order to measure rotations are presented. They are compared with a method requiring only a 3D gyroscope and assessed with a reference system. The good reported accuracies make this system suitable for clinical evaluation.

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