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

Adrian Waegli, Jan Skaloud, Phillip Tome, and Jean-Marie Bonnaz

Abstract:	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 was compared to the extended 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.
Published in:	Proceedings of the 20th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2007) September 25 - 28, 2007 Fort Worth Convention Center Fort Worth, TX
Pages:	2075 - 2084
Cite this article:	Waegli, Adrian, Skaloud, Jan, Tome, Phillip, Bonnaz, Jean-Marie, "Assessment of the Integration Strategy Between GPS and Body-Worn MEMS Sensors with Application to Sports," Proceedings of the 20th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2007), Fort Worth, TX, September 2007, pp. 2075-2084.
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