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The dependence of proposed pedestrian navigation solutions on a dedicated infrastructure is a limiting factor to the deployment of location based services. Consequently self-contained Pedestrian Dead-Reckoning (PDR) approaches are gaining interest for autonomous navigation. Even if the quality of low cost inertial sensors and magnetometers has strongly improved, processing noisy sensor signals combined with high hand dynamics remains a challenge. Estimating accurate attitude angles fordoi:10.3390/s141222864 pmid:25474379 pmcid:PMC4299043 fatcat:zxqutwphiraj3kytmxhqyxudzy