A method for post-mission velocity and orientation estimation based on data fusion from MEMS-IMU and GNSS

Pavel Davidson, Robert Piche

    Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

    3 Citations (Scopus)
    171 Downloads (Pure)

    Abstract

    INS and GNSS integrated systems have become widespread as a result of low-cost MEMS inertial sensor technology. However, the accuracy of computed velocity and orientation is not sufficient for some applications, e.g. performance and technique monitoring and evaluation in sports. Significant accuracy improvements can be made by post-mission data processing. The approach is based on fixed-lag Rauch-Tung- Striebel smoothing algorithm and provides a simple and effective solution to misalignment correction. The potential velocity accuracy is about 0.02 m/s and pitch/roll accuracy is about 0.02 deg. This algorithm was tested for walking and running. The proposed approach could also be used for accurate velocity and orientation estimation in other applications including different sports, e.g. rowing, paddling, cross-country and downhill skiing, ski jump etc.
    Original languageEnglish
    Title of host publicationMultisensor Fusion and Information Integration for Intelligent Systems (MFI), 2017 International Conference on
    PublisherIEEE
    Pages576-580
    Number of pages5
    ISBN (Electronic)978-1-5090-6064-1
    DOIs
    Publication statusPublished - 11 Dec 2017
    Publication typeA4 Article in a conference publication
    EventIEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems -
    Duration: 1 Jan 2000 → …

    Conference

    ConferenceIEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems
    Period1/01/00 → …

    Publication forum classification

    • Publication forum level 1

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