![](bg6.png)
Figure 8: Average relative distance sorted by distance (20
m - red, 40 m - green, 60 m - blue).
5 DISCUSSION AND
CONCLUSIONS
The purpose of this investigation was to develop a
simple algorithm for the calculation of the distance
covered while walking. Simplicity in that case means
that there is no information about the orientation of
the sensor. The algorithm is implementable on mo-
bile devices like mobile phones. The investigated al-
gorithms were based on the ”horizontal” components
a
x
and ω
z
. Two different approaches, were imple-
mented and compared (WSI vs. SWI). Statistically all
methods work well. The mean of the relative distance
is 0.97, but the variance is not negligible σ = 9%.
The quality of the results depend on the speed of mo-
tion. A large number of outliers were determined and
the reasons must be analyzed. The source of errors
caused by calibration can be reduced, i.e. by recali-
brating sensors any time before every subject.
The algorithms will be improved in the future in-
cluding e.g. the vertical component of the accelera-
tion, the declination of the sensor at the beginning and
during the motion. A comparison with Kalman filter
approaches and the determination of the orientation
delivered by Xsens sensors have to be conducted.
Further experiments such as walking on a tread-
mill at different speeds are planned. It seems to be
that simple algorithms based on acceleration and an-
gular velocity can satisfy everyday needs.
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