A Review of Indoor Localization Methods Based on Inertial Sensors

Abstract Pedestrian navigation using inertial sensors constitutes an infrastructure-free positioning system. The fact that inertial sensors are already available in every smartphone or other carry on devices constitutes their great advantage and makes them especially interesting for mass market applications. This chapter offers a detailed explanation of the estimation of the orientation of the sensor, since it is of key importance in order to compute the position of the user. The positioning is usually derived in two different ways depending on the location of the sensor on the human body. These two approaches are deeply explained in this chapter. Disregarding the location on the human body where the sensor is mounted on, the accumulated drift error on the estimated positioning is still an unsolved issue using medium- and low-cost inertial sensors. The latest algorithms proposed to tackle the drift error are summarized in this chapter. Finally, an overview of the upcoming pedestrian inertial positioning is offered.

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