A Novel Three-Dimensional Positioning Method for Foot-Mounted Pedestrian Navigation System Using Low-Cost Inertial Sensor

Aiming at the problem that position errors accumulate rapidly in foot-mounted pedestrian navigation systems using a low-cost inertial sensor, novel three-dimensional (3D) positioning method is proposed. First, when foot still, an improved zero velocity detection assigns different weights to each measurement unit (IMU) data sliding window designed reduce errors. When swing, lateral restriction proposed by analyzing gait characteristics of pedestrians. In addition, pedestrians need altitude building, stair step height also applied zero-velocity update (ZUPT)-aided system, which can effectively improve accuracy. Experiments under multi-gait modes show achieve smaller compared with other traditional methods. Moreover, trajectory estimated has higher coincidence real trajectories, two-dimensional (2D) plane error less than 0.9% and average only 0.12 m.