Optimization of two GPS/MEMS-IMU integration strategies with application to sports |
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Authors: | Adrian Waegli Jan Skaloud |
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Institution: | 1. Ecole polytechnique fédérale de Lausanne (EPFL), Lausanne, Switzerland
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Abstract: | The application of low-cost L1 GPS receivers integrated with micro-electro-mechanical system (MEMS) inertial measurement units
(IMU) allows the continuous observation of position, velocity and orientation which opens new possibilities for comparison
of athletes’ performance throughout a racecourse. In this paper, we compare loosely and closely coupled integration strategies
under realistic racing scenarios when GPS is partially or completely masked. The study reveals that both integration approaches
have a similar performance when the satellite constellation is completed or the outages are short. However, for less than
four satellites, the closely coupled strategy clearly outperforms the loosely coupled approach. The second part of the paper
is devoted to the important problem of system initialization, because the conventional GPS/IMU alignment methods are no longer
applicable when using MEMS-IMU. We introduce a modified coarse alignment method and a quaternion estimation method for the
computation of the initial orientation. Simulations and practical experiments reveal that both methods are numerically stable
for any initial orientation of the sensors with the error characteristics of MEMS-IMUs. Throughout the paper, our findings
are supported by racing experiments with references provided in both, the measurement and the navigation domains. |
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