Magneto-inertial navigation: principles and application to an indoor pedometer

This thesis presents the magneto-inertial navigation technique (MINAV) using magnetic disturbances and inertial sensors (accelerometers and gyrometers) to address the positioning problem of a rigid body in motion. The manuscript provides design guidelines and procedures enabling the creation of a system implementing this technique in real conditions. An example of operational system, the "magneto-inertial pedometer", providing a GPS-free indoor navigation solution is presented.

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