1. A method of identifying an individual using gait analysis comprising: receiving acceleration data from an inertial sensor proximate to an individual, wherein the acceleration data corresponds to a gait of the individual; calculating rotational invariant values based, at least in part, on the acceleration data, wherein the rotational invariant values are independent of a orientation of the inertial sensor proximate to the individual; generating a gait dynamics image (GDI) based, at least in part, on the rotational invariant values; identifying a quasi-periodic nature of the gait signals under a general energy minimization paradigm with a Bayesian interpretation; building pace independent GDIs to achieve invariance to sensor orientation and gait speed; and matching the GDI to one of a set predetermined gait data to identify the individual.