An Improved Pedestrian Navigation System Using IMU and Magnetometer

The pedestrian navigation system (PNS)based on pedestrian dead reckoning (PDR) is a kind of navigation and positioning system which relies on pedestrians themselves. It can determine the pedestrian's current position real-timely. In this paper, we consider pedestrian navigation system in devices equipped with the foot-mounted IMU, where we designa pedestrian dead reckoning algorithm based on step size estimation. The peak detection algorithm is used for the gait recognition and step frequency detection. PDR contains gait detection algorithm, step size estimation algorithm and the heading angle provided by magnetometer and Inertial navigation system (INS). In order to reduce the error, we consider the Kalman filter fusion to achieve the heading information. Since pedestrian movement is often a combination of walking and running gait, we propose a navigation scheme of walking / running combination, and prove the feasibility of the scheme by walking / running combination experiment.