1. A method for minimizing the effect of accelerometer and rate gyro errors on a lower extremity prosthesis or orthosis comprising a foot member, a lower leg member, and an ankle joint for connecting the foot member to the lower leg member, the method comprising using a controller on the prosthesis or orthosis for: determining at least one velocity error contribution for an accelerometer signal output by an accelerometer coupled to the lower leg member when the ankle joint is substantially stationary during a walking cycle of the prosthesis or orthosis; and determining at least one velocity error contribution for an inertial pose misalignment signal output by an inertial measurement unit coupled to the lower leg member when the ankle joint is substantially stationary during a walking cycle of the prosthesis or orthosis by solving a set of strapdown integration equations to derive at least one world frame-referenced ankle joint parameter.