Development of low cost on-board velocity and position measurement system for wheelchair sports

There has been an increase in popularity of wheelchair sports. It is necessary to develop mobile on-board systems to do measurements in field. This paper presents a low cost on-board velocity and position measurement system for field environments. In the system, two MEMS gyroscopes and two GPS receivers are fixed on the rear wheels' axles. A Kalman filter is used to integrate position data with velocity data to produce accurate velocity and displacement estimations. The wheelchair's kinematics can be identified by using the estimations. All of the measurement data are transferred to a computer via a wireless network.