Systems and methods for performing gait analysis of a subject are provided. A method includes obtaining a plurality of measurement sets for a subject, each of the plurality of measurement sets including inertial measurements obtained from a sensor device associated with a different one of a plurality of segments of the subject and calculating a sensor orientation for the sensor device associated with each of the plurality of segments based at least on a portion of a corresponding one the plurality of measurement sets. The method also includes computing an estimate of a segment orientation for each of the plurality of segments based on a data fusion process applied at each of the plurality of segments, where the data fusion process includes combining at least a one of the plurality measurement sets and the corresponding sensor orientation to estimate the segment orientation.
GOVERNMENT LICENSE RIGHTS
 This invention was made with government support under contract No. 2095-V215-10 awarded by the U.S. Army Medical Material Command and contract No. DE-AC05-00OR22725 awarded by the Department of Energy. The government has certain rights in the invention.