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Rotating a mens inertial measurement unit for a foot-mounted pedestrian navigation

Abdulrahim, Khairi; Hide, Chris; Moore, Terry; Hill, Chris


Khairi Abdulrahim

Chris Hide

Terry Moore

Chris Hill


Pedestrian navigation especially indoors suffers from the unavailability of useful GNSS signals for positioning. Alternatively, a low-cost Inertial Measurement Unit (IMU) positioning system that does not depend on the GNSS signal can be used for indoor navigation. However its performance is still compromised because of the fast-accumulating heading drift error affecting such a low-cost IMU sensor. This results in a huge positioning error when navigating more than a few seconds using only the low-cost sensor. In this study, real field trials results are presented when a foot-mounted IMU is rotated on a single axis. Two promising results have been obtained. First, it mitigates the heading drift error significantly and second, it increases the observability of IMU z-axis gyro bias error. This has resulted in a greatly reduced error in position for the low-cost pedestrian navigation system.

Journal Article Type Article
Acceptance Date Dec 30, 2014
Publication Date Jan 1, 2014
Deposit Date May 16, 2016
Journal Journal of Computer Science
Electronic ISSN 1549-3636
Publisher Science Publications
Peer Reviewed Peer Reviewed
Volume 10
Issue 12
Keywords Heading drift; IMU; Pedestrian navigation
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