{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,12]],"date-time":"2026-02-12T09:59:33Z","timestamp":1770890373524,"version":"3.50.1"},"reference-count":31,"publisher":"MDPI AG","issue":"21","license":[{"start":{"date-parts":[[2021,10,28]],"date-time":"2021-10-28T00:00:00Z","timestamp":1635379200000},"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>The position calibration of inertial measurement units (IMUs) is an important part of human motion capture, especially in wearable systems. In realistic applications, static calibration is quickly invalid during the motions for IMUs loosely mounted on the body. In this paper, we propose a dynamic position calibration algorithm for IMUs mounted on the waist, upper leg, lower leg, and foot based on joint constraints. To solve the problem of IMUs\u2019 position displacement, we introduce the Gauss\u2013Newton (GN) method based on the Jacobian matrix, the dynamic weight particle swarm optimization (DWPSO), and the grey wolf optimizer (GWO) to realize IMUs\u2019 position calibration. Furthermore, we establish the coordinate system of human lower limbs to estimate each joint angle and use the fusion algorithm in the field of quaternions to improve the attitude calibration performance of a single IMU. The performances of these three algorithms are analyzed and evaluated by gait tests on the human body and comparisons with a high-precision IMU-Mocap reference device. The simulation results show that the three algorithms can effectively calibrate the IMU\u2019s position for human lower limbs. Additionally, when the degree of freedom (DOF) of a certain dimension is limited, the performances of the DWPSO and GWO may be better than GN, when the joint changes sufficiently, the performances of the three are close. The results confirm that the dynamic calibration algorithm based on joint constraints can effectively reduce the position offset errors of IMUs on upper or lower limbs in practical applications.<\/jats:p>","DOI":"10.3390\/s21217161","type":"journal-article","created":{"date-parts":[[2021,10,28]],"date-time":"2021-10-28T23:52:35Z","timestamp":1635465155000},"page":"7161","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":7,"title":["Joint Constraints Based Dynamic Calibration of IMU Position on Lower Limbs in IMU-MoCap"],"prefix":"10.3390","volume":"21","author":[{"given":"Qian","family":"Hu","sequence":"first","affiliation":[{"name":"School of Information Engineering, East China Jiao Tong University, Shuanggang Dong Dajie 808, Nanchang 330013, China"}]},{"given":"Lingfeng","family":"Liu","sequence":"additional","affiliation":[{"name":"School of Information Engineering, East China Jiao Tong University, Shuanggang Dong Dajie 808, Nanchang 330013, China"}]},{"given":"Feng","family":"Mei","sequence":"additional","affiliation":[{"name":"School of Information Engineering, East China Jiao Tong University, Shuanggang Dong Dajie 808, Nanchang 330013, China"}]},{"given":"Changxuan","family":"Yang","sequence":"additional","affiliation":[{"name":"School of Information Engineering, East China Jiao Tong University, Shuanggang Dong Dajie 808, Nanchang 330013, China"}]}],"member":"1968","published-online":{"date-parts":[[2021,10,28]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"3362","DOI":"10.3390\/s140203362","article-title":"Gait analysis methods: An overview of wearable and non-wearable systems, highlighting clinical applications","volume":"14","year":"2014","journal-title":"Sensors"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"2255","DOI":"10.3390\/s120202255","article-title":"Gait Analysis Using Wearable Sensors","volume":"12","author":"Tao","year":"2012","journal-title":"Sensors"},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"Blake, A., and Grundy, C. 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