A study on the correction of azimuthal angle by fusion of geomagnetic sensor and inertial sensor

For indoor navigation systems that use low-cost sensors such as those built-in to smartphones, azimuth estimation is critical to location accuracy. However, the accuracy of the measured azimuth in many locations is very bad due to the influence of the magnetic field on the geomagnetic sensor. In this paper, the geomagnetic sensor data are fused with the acceleration sensor and gyro sensor data, to correct the erroneous azimuthal angle and it shows improved performance compared to the conventional method.