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Conference paper

Assessment of the Integration Strategy between GPS and Body-Worn MEMS Sensors with Application to Sports

Waegli, Adrian; Skaloud, Jan; Tomé, Phillip; Bonnaz, Jean-Marie
  • Presented at: ION-GNSS 2007, Fort Worth (Texas, USA), September 25-28, 2007
  • Published in: ION-GNSS 2007
  • : , 2007

This paper describes experiments that were performed involving a professional downhill skier equipped with a low-cost L1 GPS receiver and a MEMS-IMU composed of 3 single axis gyroscopes, accelerometers and magnetometers. In addition, the skier carried an L1/L2 GPS receiver and a tactical-grade IMU (LN200). The experiments aimed to assess the navigation performance of different GPS/MEMS-IMU integration strategies compared to high-quality GPS/INS integration. After presenting an overview of currently applied integration methods, the unscented Kalman filter approach in loosely coupled mode. The relevance of the simple MEMS-IMU sensor error model was verified by comparing the filter output to the reference data.

Keywords: sports ; MEMS-IMU ; GPS/INS integration ; error model ; unscented Kalman filter ; gpsski

Reference

  • TOPO-CONF-2007-012

Record created on 2007-11-06, modified on 2012-03-20

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