This study aims to design an optimized algorithm for low-cost pedestrian navigation system (PNS) to correct the heading drift and altitude error, thus achieving high-precise pedestrian location in both two-dimensional (2-D) and three-dimensional (3-D) space.
A novel heading correction algorithm based on smoothing filter at the terminal of zero velocity interval (ZVI) is proposed in the paper. This algorithm adopts the magnetic sensor to calculate all the heading angles in the ZVI and then applies a smoothing filter to obtain the optimal heading angle. Furthermore, heading correction is executed at the terminal moment of ZVI. Meanwhile, an altitude correction algorithm based on step height constraint is proposed to suppress the altitude channel divergence of strapdown inertial navigation system by using the step height as the measurement of the Kalman filter.
The verification experiments were carried out in 2-D and 3-D space to evaluate the performance of the proposed pedestrian navigation algorithm. The results show that the heading drift and altitude error were well corrected. Meanwhile, the path calculated by the novel algorithm has a higher match degree with the reference trajectory, and the positioning errors of the 2-D and 3-D trajectories are both less than 0.5 per cent.
Besides zero velocity update, another two problems, namely, heading drift and altitude error in the PNS, are solved, which ensures the high positioning precision of pedestrian in indoor and outdoor environments.
Tian, X., Chen, J., Han, Y., Shang, J. and Li, N. (2017), "Pedestrian navigation system using MEMS sensors for heading drift and altitude error correction", Sensor Review, Vol. 37 No. 3, pp. 270-281. https://doi.org/10.1108/SR-07-2016-0125
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