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inertial Estimation of swimmer's velocity estimationfrom IMU sensor

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cabal
cabal
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inertial velocity estimation

I am dealing with the problem of estimation the swimmer's velocity. In the same time data from IMU sensor and tethered system are acquired. Data from tethered system are reference data. From IMU sensor acceleration, angular velocity and strength magnetic field data were acquired. IMU sensor was placed on lower back.

Example data from tethered system for the one trial:

enter image description here

The best velocity from IMU that I estimate was:

enter image description here

and for the comparison purpose:

enter image description here

My questions are:

  1. As it can be seen, the curves are not overlap exactly. Is it possible to improve the results for IMU sensor?
  2. Do you have any idea how to pre-process data from IMU?
  3. How improve data from tethered system?