A novel heading estimation algorithm for pedestrian using a smartphone without attitude constraints

摘要: Pedestrian Dead Reckoning is an algorithm which uses sensors such as accelerometer, gyroscope and magnetometer to provide real-time location services. Since these are integrated into smartphones, smartphone based PDR system becomes efficient alternative of indoor positioning method. Heading estimation a crucial part system, because step length pedestrian can be well modelled slight deviation may result in huge cumulative error. Several algorithms have been proposed for heading estimation, but they need the keep relatively stationary pedestrian, inconvenient difficult popularize. To remedy disadvantages, we novel method estimating moving direction using data from accelerometer. It allows different holding postures relative motion between his phone. After applying this method, it's unnecessary maintain same attitude angles positioning. The experiment shows that performs robust accurate results under postures. assisted with makes good performance