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Error Analysis of PDR System Using Dual Foot-mounted IMU
E3S Web of Conferences
In this paper, we analyze the position errors of the pedestrian dead reckoning (PDR) system using foot-mounted IMU attached to each foot, and implement PDR system using dual foot-mounted IMU to reduce the analyzed error. The PDR system using foot-mounted IMU is generally based on an inertial navigation system (INS). To reduce bias and white noise errors, INS is combined with zero velocity update (ZUPT), which assumes that the pedestrian shoe velocity is zero at the stance phase. Although ZUPTdoi:10.1051/e3sconf/20199402007 fatcat:pm2ozujlaregppkakgz242lzne