{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,12]],"date-time":"2026-05-12T16:57:00Z","timestamp":1778605020000,"version":"3.51.4"},"reference-count":24,"publisher":"MDPI AG","issue":"2","license":[{"start":{"date-parts":[[2016,1,26]],"date-time":"2016-01-26T00:00:00Z","timestamp":1453766400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Information from complementary and redundant sensors are often combined within sensor fusion algorithms to obtain a single accurate observation of the system at hand. However, measurements from each sensor are characterized by uncertainties. When multiple data are fused, it is often unclear how all these uncertainties interact and influence the overall performance of the sensor fusion algorithm. To address this issue, a benchmarking procedure is presented, where simulated and real data are combined in different scenarios in order to quantify how each sensor\u2019s uncertainties influence the accuracy of the final result. The proposed procedure was applied to the estimation of the pelvis orientation using a waist-worn magnetic-inertial measurement unit. Ground-truth data were obtained from a stereophotogrammetric system and used to obtain simulated data. Two Kalman-based sensor fusion algorithms were submitted to the proposed benchmarking procedure. For the considered application, gyroscope uncertainties proved to be the main error source in orientation estimation accuracy for both tested algorithms. Moreover, although different performances were obtained using simulated data, these differences became negligible when real data were considered. The outcome of this evaluation may be useful both to improve the design of new sensor fusion methods and to drive the algorithm tuning process.<\/jats:p>","DOI":"10.3390\/s16020153","type":"journal-article","created":{"date-parts":[[2016,1,26]],"date-time":"2016-01-26T10:00:42Z","timestamp":1453802442000},"page":"153","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":27,"title":["Assessing the Performance of Sensor Fusion Methods: Application to Magnetic-Inertial-Based Human Body Tracking"],"prefix":"10.3390","volume":"16","author":[{"given":"Gabriele","family":"Ligorio","sequence":"first","affiliation":[{"name":"The BioRobotics Institute, Scuola Superiore Sant\u2019Anna, Piazza Martiri della Libert\u00e0 33, 56125 Pisa, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9055-3981","authenticated-orcid":false,"given":"Elena","family":"Bergamini","sequence":"additional","affiliation":[{"name":"Department of Movement, Human and Health Sciences, Interuniversity Centre of Bioengineering of the Human Neuromusculoskeletal System, University of Rome \u201cForo Italico\u201d, Piazza Lauro de Bosis 15, 00135 Roma, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ilaria","family":"Pasciuto","sequence":"additional","affiliation":[{"name":"Department of Movement, Human and Health Sciences, Interuniversity Centre of Bioengineering of the Human Neuromusculoskeletal System, University of Rome \u201cForo Italico\u201d, Piazza Lauro de Bosis 15, 00135 Roma, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2359-6076","authenticated-orcid":false,"given":"Giuseppe","family":"Vannozzi","sequence":"additional","affiliation":[{"name":"Department of Movement, Human and Health Sciences, Interuniversity Centre of Bioengineering of the Human Neuromusculoskeletal System, University of Rome \u201cForo Italico\u201d, Piazza Lauro de Bosis 15, 00135 Roma, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Aurelio","family":"Cappozzo","sequence":"additional","affiliation":[{"name":"Department of Movement, Human and Health Sciences, Interuniversity Centre of Bioengineering of the Human Neuromusculoskeletal System, University of Rome \u201cForo Italico\u201d, Piazza Lauro de Bosis 15, 00135 Roma, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3306-6498","authenticated-orcid":false,"given":"Angelo","family":"Sabatini","sequence":"additional","affiliation":[{"name":"The BioRobotics Institute, Scuola Superiore Sant\u2019Anna, Piazza Martiri della Libert\u00e0 33, 56125 Pisa, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2016,1,26]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"519","DOI":"10.1177\/0278364907079279","article-title":"An Introduction to Inertial and Visual Sensing","volume":"26","author":"Corke","year":"2007","journal-title":"Int. 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