A Dual Foot-Mounted Pedestrian Navigation Scheme Based on Dynamic Step Width Constrain Using Inertial/ Magnetometer Sensor

Aiming at improving the positioning accuracy of the foot-mounted pedestrian navigation system, a novel positioning scheme is proposed, which includes a zero-velocity detector with magnetometer and a dynamic step width constrain (DSWC) algorithm. The zero-velocity detector with magnetometer can detect the zero-velocity interval of pedestrians accurately, and the DSWC can reduce the position error effectively by using the gait characteristics of pedestrians. Compared with the basic zero-velocity update (ZUPT) and inequality constrain scheme, the experimental results show that the proposed scheme can reduce the position error caused by heading drift and obtain higher positioning precision (about 0.15%–1.09% traveled distance).