A jump detection system for an inertial measurement unit integrated with a barometric altimeter in the same device (IMU-baro), the system comprising: a first Kalman filter connected to a rate of turn input and to an acceleration input to estimate a roll and pitch of the IMU-baro based on the measured IMU-baro orientation and the measured IMU-baro acceleration; a second Kalman filter connected to the acceleration input, to a barometric pressure input, and to the first Kalman filter; the second Kalman filter cascaded with the first Kalman filter to receive the estimated roll and pitch angles of the IMU-baro from the first Kalman filter and to estimate vertical position and vertical velocity of the IMU-baro based on the measured IMU-baro acceleration, the measured barometric pressure using barometric altimeter, and the estimated roll and pitch of the IMU- baro; and a processor connected to the first Kalman filter and to the second Kalman filter, the processor configured to: record time-series data of both a vertical component of the measured IMU-baro acceleration and the estimated vertical velocity of the IMU-baro; detect a potential jump by comparing the vertical component of the measured IMU-baro acceleration to one or more acceleration thresholds; and validate the potential jump by comparing a difference between a maximum velocity and a minimum velocity within a vicinity of the potential jump in the time-series data of the estimated vertical velocity of the IMU-baro to a velocity threshold. a first Kalman filter connected to a rate of turn input and to an acceleration input to estimate a roll and pitch of the IMU-baro based on the measured IMU-baro orientation and the measured IMU-baro acceleration; a second Kalman filter connected to the acceleration input, to a barometric pressure input, and to the first Kalman filter; the second Kalman filter cascaded with the first Kalman filter to receive the estimated roll and pitch angles of the IMU-baro from the first Kalman filter and to estimate vertical position and vertical velocity of the IMU-baro based on the measured IMU-baro acceleration, the measured barometric pressure using barometric altimeter, and the estimated roll and pitch of the IMU- baro; and a processor connected to the first Kalman filter and to the second Kalman filter, the processor configured to: record time-series data of both a vertical component of the measured IMU-baro acceleration and the estimated vertical velocity of the IMU-baro; detect a potential jump by comparing the vertical component of the measured IMU-baro acceleration to one or more acceleration thresholds; and validate the potential jump by comparing a difference between a maximum velocity and a minimum velocity within a vicinity of the potential jump in the time-series data of the estimated vertical velocity of the IMU-baro to a velocity threshold. record time-series data of both a vertical component of the measured IMU-baro acceleration and the estimated vertical velocity of the IMU-baro; detect a potential jump by comparing the vertical component of the measured IMU-baro acceleration to one or more acceleration thresholds; and validate the potential jump by comparing a difference between a maximum velocity and a minimum velocity within a vicinity of the potential jump in the time-series data of the estimated vertical velocity of the IMU-baro to a velocity threshold.