Magnetometerless detection of incorrect attachment and calibration of motion tracking system

A system for tracking motion of a person, the system comprising:

• a plurality of sensors, each sensor comprising a gyroscope and an accelerometer;
• and
• a computing apparatus comprising at least one processor, at least one memory and means for transmitting and receiving data;
• each sensor of the plurality of sensors being configured to provide, to the computing apparatus, a first orientation when the sensors are aligned, and a second orientation when the sensors are placed on the person, the first and second orientations comprising first and second headings, respectively;
• and
• the computing apparatus being programmed to:
• digitally determine whether the plurality of sensors is placed on the person according to a predetermined sensor arrangement based on both the first and second headings of each sensor of the plurality of sensors;
• and
• adjust an operation of the system based on the determination.

A computer-readable storage medium having stored therein a computer program that has instructions which, when executed by a computing device, cause the computing device to perform the following steps:

• receiving first orientations from a plurality of sensors of a motion tracking system when they are aligned, each first orientation comprising a first heading;
• receiving second orientations from the plurality of sensors when they are placed on a person, each second orientation comprising a second heading;
• digitally determining whether the plurality of sensors is placed on the person according to a predetermined sensor arrangement based on both the first and second headings of each sensor of the plurality of sensors;
• and
• adjusting operation of the motion tracking system based on the determination.