Robust Misalignment Handling in Pedestrian Dead Reckoning

摘要: Modern mobile devices consists various sensors such as accelerometers and gyroscopes that can be used to aid complement Global Navigation Satellite System position velocity updates. Especially these are now capable of providing good navigation solutions for pedestrians with competitive battery power consumption when compared radio systems. In order achieve this energy efficiency, the could primarily based on onboard inertial alone, additional aiding systems GNSS or indoor map only requested, initialize starting position. One most critical problems in device is inability accurately estimate misalignment between pedestrian walking direction orientation, eventually causing algorithm output wrong location solution. paper we propose methods detect situations means reduce errors due estimation error.