Publication

Assessment of GPS/MEMS-IMU Integration Performance in Ski Racing

Jan Skaloud, Adrian Ulrich Wägli
2007
Conference Papers

Abstract

This paper describes an experiment involving a professional downhill skier equipped with GPS and MEMS-IMU, as well as a triad of magnetometers and a tactical-grade inertial unit. The experiment illustrates the navigation performance of GPS/MEMS integration compared to high-quality GPS/INS integration challenged by the environmental conditions and dynamics of ski-racing. The MEMs sensors'output is directly compared to the reference signals. This information is used to validate the error models of the inertial and magnetic measurements and to select the appropriate integration algorithms.

Official source

https://infoscience.epfl.ch/entities/publication/57abd32c-4b20-4540-9d2b-8483f27117d7

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Jan Skaloud, Adrian Ulrich Wägli
2007
Conference Papers

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/57abd32c-4b20-4540-9d2b-8483f27117d7

About this result

Related concepts (32)

Inertial navigation system

An inertial navigation system (INS) is a navigation device that uses motion sensors (accelerometers), rotation sensors (gyroscopes) and a computer to continuously calculate by dead reckoning the position, the orientation, and the velocity (direction and speed of movement) of a moving object without the need for external references. Often the inertial sensors are supplemented by a barometric altimeter and sometimes by magnetic sensors (magnetometers) and/or speed measuring devices.

MEMS

MEMS (Microelectromechanical systems) is the technology of microscopic devices incorporating both electronic and moving parts. MEMS are made up of components between 1 and 100 micrometres in size (i.e., 0.001 to 0.1 mm), and MEMS devices generally range in size from 20 micrometres to a millimetre (i.e., 0.02 to 1.0 mm), although components arranged in arrays (e.g., digital micromirror devices) can be more than 1000 mm2.

Vibrating structure gyroscope

A vibrating structure gyroscope, defined by the IEEE as a Coriolis vibratory gyroscope (CVG), is a gyroscope that uses a vibrating structure to determine the rate of rotation. A vibrating structure gyroscope functions much like the halteres of flies (insects in the order Diptera). The underlying physical principle is that a vibrating object tends to continue vibrating in the same plane even if its support rotates. The Coriolis effect causes the object to exert a force on its support, and by measuring this force the rate of rotation can be determined.

Related publications (3)

Assessment of GPS/MEMS-IMU Integration Performance in Ski Racing

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GNSS/INS/Star Tracker Integrated Navigation System for Earth-Moon Transfer Orbit

Automated Processing of GPS/MEMS-IMU Data for Position, Velocity and Attitude Determination

Mixed Numerical/Monte-Carlo Integration