A motion classification system comprises an inertial measurement unit configured to sense motion of a user and to output one or more channels of inertial motion data corresponding to the sensed motion; and a processing unit configured to calculate a coefficient vector for each of the one or more channels based on a wavelet transformation of the respective inertial motion data, and to select one of a plurality of gaits as the user's gait based on the calculated coefficient vector of at least one of the one or more channels and on a plurality of templates, each template corresponding to one of the plurality of gaits.