ABSTRACT
The 2022 Winter Olympics bid success promoted the development of the ice and snow sports in China. The emergence of indoor skiing system drives the ski and snow sports into a highly developed period especially at the normal prevention and control stage of COVID-19. However, the conventional indoor skiing system is insufficient in sports experience and inability to track the skier trajectory and attitude for training. Fortunately, the Ultra-Wide Band (UWB) and Micro Inertial Navigation System (MINS) are widely used in indoor environments due to high-precision positioning and low-cost priorities. UWB presents high accuracy in positioning, while it is easily to be disturbed by the Non Line of Sight (NLOS) and multipath effects. Meanwhile, the MINS error would accumulate with time. Therefore, this paper proposed a MINS/UWB integration algorithm to implement the trajectory and attitude measurement of the skier with low-cost. Meanwhile, the MINS/UWB based Extended Kalman Filter (EKE) is designed with sequential algorithm for skiing. Finally, both the indoor positioning experiment and the intelligent skiing system verification experiment were carried out to verify the accuracy of MINS/UWB integration system. Experimental results show the MINS/UWB integration technology could locate effectively When the UWB signal is intermittently blocked.