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This study introduces an inertial measurement unit-based measurement system for resolving the dynamic lean angle of a ski pole during double poling while cross-country skiing. The measurement system estimates both the pole lean angle and pole–terrain contact events. Reported are results from 20 trials providing validated estimates of ski pole lean angle and the timing of pole plant and pole lift events. The pole lean angle is estimated from a complementary filter that fuses estimates of orientation from the embedded accelerometer and angular rate gyro. Validation follows from comparison with video capture measurements. Bland–Altman analysis showed agreement between the two measurement modalities with less than 5% bias in the mean differences (relative to the lean angle range of motion). Companion correlation analysis confirms strong correlation (   $$r = 0.99$$    r  =  0.99     ) between the inertial measurement unit and video-estimated lean angles and with mean root-mean-square errors below 4.5   $$^{\circ }$$     ∘     .

Embedded inertial measurement unit reveals pole lean angle for cross-country skiing