Hybrid orientation filter aided indoor tracking for pedestrians using a smartphone

摘要

In this paper, we proposed a novel approach called Hybrid Orientation Filter which deploys a combination of the information filter and the complementary filter to achieve accurate heading estimation. Base on this approach, a Hybrid Orientation Filter aided pedestrian dead reckoning system with utilization of the visual gyroscope is proposed and implemented on a smartphone, offering real-time indoor tracking for pedestrians without map information or infrastructure. Experiment results show that the proposed dead reckoning system achieves typically sub-meter accuracy in position over 207 meters, and an average error of 2.55 degrees in heading over 1800 degrees.