A wearable micro-sensor motion capture system with 16 IMUs and an error-compensatory complementary filter algorithm for real-time motion estimation has been developed to acquire accurate 3D orientation and displacement in real life activities.In the proposed filter algorithm,the gyroscope bias error,orientation error and magnetic disturbance error are estimated and compensated,significantly reducing the orientation estimation error due to sensor noise and drift.Displacement estimation,especially for activities such as jumping,has been the challenge in micro-sensor motion capture.An adaptive gait phase detection algorithm has been developed to accommodate accurate displacement estimation in different types of activities.The performance of this system is benchmarked with respect to the results of VICON optical capture system.The experimental results have demonstrated effectiveness of the system in daily activities tracking,with estimation error 0.16 ± 0.06m for normal walking and 0.13 ± 0.11m for jumping motions. A wearable micro-sensor motion capture system with 16 IMUs and an error-compensatory complementary filter algorithm for real-time motion estimation has been developed to acquire accurate 3D orientation and displacement in real life activities. In the proposed filter algorithm, the gyroscope bias error , orientation error and magnetic disturbance error are estimated and compensated, significantly reducing the orientation estimation error due to sensor noise and drift. Displacement estimation, especially for activities such as jumping, has been the challenge in micro-sensor motion capture. An adaptive gait phase detection algorithm has been built to accommodate accurate displacement estimation in different types of activities. the performance of this system is benchmarked with respect to the results of VICON optical capture system. The experimental results have a verification of the system in daily activities tracking, with estimation error 0.16 ± 0.06m for normal walking and 0.13 0.11m for jumping motions.