Research on MEMS-based pedestrian Navigation Correction Algorithm

Nowadays, with the popular use of pedestrian inertial navigation, the accuracy requirements for navigation in this field are getting higher and higher. This paper aims to improve the last pedestrian navigation accuracy by algorithmically correcting the measured inertial data in attitude, speed and position. In this paper, the sensor is placed on the instep of the pedestrian. Firstly, the gyroscope error and acceleration error are corrected by the rate test method and the twelve position method, and then by the zero velocity detection algorithm of pedestrian walking and the compensation cumulative error algorithm based on extended Kalman filter, realizing the Accumulated error correction and compensation during walking. Finally, the applicability and accuracy of the navigation algorithm are verified by experiments.