The performance impact evaluation on bias of gyro and accelerometer for foot-mounted INS

Foot-mounted inertial navigation system (INS) composed of MEMS-based inertial sensors is widely used in pedestrian navigation. The bias of gyro and accelerometer are the most important parameter which mainly determines the performance and the price of the device. How does the bias impact the performance of foot-mounted INS? How do we choose the suitable inertial sensors in the design of foot-mounted INS? This paper established the error state model and error observation model for foot-mounted INS and several typical constrains. Through the observability analysis of the error state variables, we deduced the conclusion that the east bias and north bias of accelerometer is the most important factor which impact navigation performance. An experiment designed specially verifies the correctness of the conclusion. The evaluation conclusion is very significant and helpful for the design of foot-mounted INS in pedestrian navigation.