Quantizing Heading Change Angles for Enhanced Indoor Pedestrian Navigation

Abstract

PDR (Pedestrian Dead Reckoning) is a self- contained navigation technique with inertial sensors. The heading estimation dominates the overall accuracy in pedestrian navigations. In this paper, we propose a method of quantizing heading change angle by utilizing a vertical vector for improved indoor pedestrian navigation. Experimental results show that the proposed method with a quantization angle of 30 consistently determines the direction of movement in indoor environments.