thesis: Motion tracking in field sports using GPS and IMU

• M. Roobeek, Delft university of technology

1. Introduction

1.2 Background

2. Methods and materials

2.2. Sensors

2.2.1 Inertial Measurement Unit(IMU)

2.3 Filters

2.3.1 Unscented Kalman Filter (UKF)

Unscented Transformation

Update formular

Handling quaternions in the unscented tranformation

2.3.2 Madgwick filter

Orientation from angular velocity

Orientation from a homogeneous field

Orientation from a homogeneous field

Fusion process

2-4 Models

2-4-1 Linear Kalmann filter

2-4-2 Translation UKF

2-4-3 Rotation UKF

2-4-4 Full state

2-4-5 Filter Configuration