Wearable Indoor Pedestrian Navigation Based on MIMU and Hypothesis Testing

Indoor pedestrian navigation (IPN) has attracted more and more attention for the reason that it can be widely used in indoor environments without GPS, such as fire and rescue in building, underground parking, etc. Pedestrian dead reckoning (PDR) based on inertial measurement unit can meet the requirement. This paper designs and implements a miniature wearable indoor pedestrian navigation system to estimate the position and attitude of a person while walking indoor. In order to reduce the accumulated error due to long-term drift of inertial devices, a zero-velocity detector based on hypothesis testing is introduced for instantaneous velocity and angular velocity correction. A Kalman filter combining INS information, magnetic information, and zero transient correction information is designed to estimate system errors and correct them. Finally, performance testing and evaluation are conducted to the IPN; results show that for leveled ground, position accuracy is about 2 % of the traveled distance.