**4.1. SCEKF**

To validate the sensor calibration and fusion method proposed in this chapter, this section covers the results obtained from the 10-DOF sensor module with operating system of Windows 8.1, 2.20 GHz CPU, 8 GB memory, and experiments are performed with the Arduino program described in Section 2.1. The system was fixed on an anti-vibration table to minimize interference. The proposed SCEKF algorithm was used to estimate accelerometer and orientation with 27-Hz updating rate.

As the calculation process of sensor algorithm, we used the rotary platform with outputting the quantitative and stable signal to observe the relative signal output. The first process is fixing IMU at the center and along the rotation axis of the platform and fixing it by valves. After installation, setting the required rate or angle of rotation as a reference data by the user interface, we measured the output corresponding to the reference data. The performance of the orientation before/ after SCEKF algorithm is presented in **Figure 8**(**a**–**c**), respectively; it produced reasonable output values within the expected ranges. It is seen that each component of Euler orientation (i.e., roll, pitch, and yaw) is within 0�1 degree after SCEKF processing in the static test.
