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

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