Foot-Mounted Pedestrian Navigation Algorithm Based on BOR/MINS Integrated Framework

The traditional pedestrian navigation system that uses zero velocity update algorithm cannot calculate traveled distance accurately or observe the heading error. A new model called body odometer (BOR) that consists of a step length model and a correction factor is proposed to obtain precise single step length for dead reckoning. A BOR/MINS integrated framework uses the difference between micro electro mechanical inertial navigation system (MINS) calculated distance and single step length, as a new observation to estimate the correction factor and compensate navigation errors via a Kalman filter. To eliminate the heading error accumulation, a new gyro drift reduction method that combines heuristic drift reduction method and complementary filter is presented. The 200 m straight line experiments show that the calculated distance by BOR/MINS integrated method is much closer to the real distance with the average error percentage of 0.24%. Three differently designed trajectories’ experiments show that the proposed method has a higher match degree with the real trajectories and the positioning error with respect to the total traveled distance is less than 0.6%.