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《Science of Surveying and Mapping》 2014-01
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A research of IMU indoor pedestrian dead reckoning based on foot-mounted

YIN Hong;GUO Hang;DENG Xiao-hua;School of Science,Nanchang University;Academy of Space Technology,Nanchang University;  
Aiming at the problem of the increasing error of IMU over time,an IMU indoor pedestrian dead reckoning system based on foot-mounted was analyzed and designed in detail,which contains step detection algorithm,static initial alignment,IMU navigation algorithms,as well as,EKF algorithm.All algorithms were coded in MATLAB.The error of velocity and angle velocity was calculated and compensated with ZUPT and ZARU in EKF,in order to reduce indirectly the divergence speed of position.The experiments results showed that the system could have high performance in indoor pedestrian dead reckoning by less time and short distance with the ratio of position error and the total travelled distance from 0.5%to 2%.
【Fund】: 科技部国际科技合作项目(2010DFA70990);; 国家自然科学基金项目(41164001)
【CateGory Index】: P228.4
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