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

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.