A Pedestrian Heading Online Compensation Method Research for a Waist-Worn Indoor Inertial Navigation System

In waist-worn pedestrian indoor inertial navigation systems, due to the existence of gyroscope errors, pedestrian heading will drift with time, which significantly reduces positioning accuracy. Therefore, this paper researches a rule for judging walking straight-line track and determines online the azimuth angles of indoor corridors with rectangular shapes with no maps. And on this basis, a heading online compensation method for pedestrian indoor navigation is proposed, which compensates pedestrian heading with the azimuth information of corridors by Kalman Filter. The effectiveness of the method is demonstrated through 4 positioning experiments, which their total distances were all more than 1.2 kilometers. The uncompensated and compensated average positioning error rates using this method were 0.95%, 0.41% of the distance travelled respectively. The experimental results indicate that the proposed method is effective to restrain pedestrian heading drift and improve positioning accuracy.