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Orientation of human body segments is an important quantity in many biomechanical analyses. To get robust and drift-free 3-D orientation, raw data from miniature body worn MEMS-based inertial measurement units (IMU) should be blended in a Kalman filter. Aiming at less computational cost, this work presents a novel cascaded two-step Kalman filter orientation estimation algorithm. Tilt angles are estimated in the first step of the proposed cascaded Kalman filter. The estimated tilt angles are passed to the second step of the filter for yaw angle calculation. The orientation results are benchmarked against the ones from a highly accurate tactical grade IMU. Experimental results reveal that the proposed algorithm provides robust orientation estimation in both kinematically and magnetically disturbed conditions.

Fitness activity classification on wearable devices can provide activity-specific information and generate more accurate performance metrics. Recently, optical head-mounted displays (OHMD) like Google Glass, Sony SmartEyeglass and Recon Jet have emerged. This paper presents a novel method to classify fitness activities using head-worn accelerometer, barometric pressure sensor and GPS, with comparisons to other common mounting locations on the body. Using multiclass SVM on head-worn sensors, we obtained an average F-score of 96.66% for classifying standing, walking, running, ascending/descending stairs and cycling. The best sensor location combinations were found to be on the ankle plus another upper body location. Using three or more sensors did not show a notable improvement over the best two-sensor combinations.