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The paper presents simple algorithms for the estimation of displacement based on inertial sensors and integration of the horizontal acceleration. Experiments were conducted including nine healthy subjects. They were asked to walk three distances (20, 40 and 60m) at different speeds (normal, slow and fast). The acceleration and the angular velocity vectors ere captured by inertial sensors from SHIMMER research and Xsens technology fixed to the lower shank. Two algorithms whole signal integration and stepwise integration were compared with regard to their accuracy. A priori knowledge about the motion was included in the calculation. Statistically all methods work well (mean of the relative distance is 0.97 while the variance is not negligible (s = 9%). The quality of the results depends especially on the tempo of motion.

Simple Algorithms for the Determination of the Walking Distance based on the Acceleration Sensor