{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,12]],"date-time":"2026-05-12T16:53:17Z","timestamp":1778604797549,"version":"3.51.4"},"reference-count":51,"publisher":"MDPI AG","issue":"7","license":[{"start":{"date-parts":[[2021,4,5]],"date-time":"2021-04-05T00:00:00Z","timestamp":1617580800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100010767","name":"Innovative Medicines Initiative","doi-asserted-by":"publisher","award":["820820"],"award-info":[{"award-number":["820820"]}],"id":[{"id":"10.13039\/501100010767","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Sardegna Ricerche","award":["POR FESR 2014\/2020"],"award-info":[{"award-number":["POR FESR 2014\/2020"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>The orientation of a magneto and inertial measurement unit (MIMU) is estimated by means of sensor fusion algorithms (SFAs) thus enabling human motion tracking. However, despite several SFAs implementations proposed over the last decades, there is still a lack of consensus about the best performing SFAs and their accuracy. As suggested by recent literature, the filter parameters play a central role in determining the orientation errors. The aim of this work is to analyze the accuracy of ten SFAs while running under the best possible conditions (i.e., their parameter values are set using the orientation reference) in nine experimental scenarios including three rotation rates and three commercial products. The main finding is that parameter values must be specific for each SFA according to the experimental scenario to avoid errors comparable to those obtained when the default parameter values are used. Overall, when optimally tuned, no statistically significant differences are observed among the different SFAs in all tested experimental scenarios and the absolute errors are included between 3.8 deg and 7.1 deg. Increasing the rotation rate generally leads to a significant performance worsening. Errors are also influenced by the MIMU commercial model. SFA MATLAB implementations have been made available online.<\/jats:p>","DOI":"10.3390\/s21072543","type":"journal-article","created":{"date-parts":[[2021,4,5]],"date-time":"2021-04-05T11:48:29Z","timestamp":1617623309000},"page":"2543","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":77,"title":["Analysis of the Accuracy of Ten Algorithms for Orientation Estimation Using Inertial and Magnetic Sensing under Optimal Conditions: One Size Does Not Fit All"],"prefix":"10.3390","volume":"21","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-1529-8095","authenticated-orcid":false,"given":"Marco","family":"Caruso","sequence":"first","affiliation":[{"name":"Polito<sup>BIO<\/sup>Med Lab\u2014Biomedical Engineering Lab and Department of Electronics and Telecommunications, Politecnico di Torino, 10129 Torino, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Angelo Maria","family":"Sabatini","sequence":"additional","affiliation":[{"name":"Department of Excellence in Robotics &amp; AI, The BioRobotics Institute, Scuola Superiore Sant\u2019Anna, 56127 Pisa, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2928-2446","authenticated-orcid":false,"given":"Daniel","family":"Laidig","sequence":"additional","affiliation":[{"name":"Control Systems Group, Technische Universit\u00e4t Berlin, 10623 Berlin, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Thomas","family":"Seel","sequence":"additional","affiliation":[{"name":"Control Systems Group, Technische Universit\u00e4t Berlin, 10623 Berlin, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5396-5103","authenticated-orcid":false,"given":"Marco","family":"Knaflitz","sequence":"additional","affiliation":[{"name":"Polito<sup>BIO<\/sup>Med Lab\u2014Biomedical Engineering Lab and Department of Electronics and Telecommunications, Politecnico di Torino, 10129 Torino, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ugo","family":"Della Croce","sequence":"additional","affiliation":[{"name":"Department of Biomedical Sciences, University of Sassari, 07100 Sassari, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7276-5382","authenticated-orcid":false,"given":"Andrea","family":"Cereatti","sequence":"additional","affiliation":[{"name":"Polito<sup>BIO<\/sup>Med Lab\u2014Biomedical Engineering Lab and Department of Electronics and Telecommunications, Politecnico di Torino, 10129 Torino, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2021,4,5]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Cereatti, A., Trojaniello, D., and Della Croce, U. 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