The IK tool goes through each time step (frame) of motion and computes generalized coordinate values which positions the model in a pose that "best matches" experimental IMU orientations. Mathematically, the "best match" is expressed as a weighted least squares problem, whose solution aims to minimize orientation errors. The topics covered in this section include:
Orientation Errors
An orientation error is the difference in orientation of the experimental IMU and the corresponding model's IMU.