Research on Robust PDR Algorithm Based on Smart Phone

摘要

In recent years, the demand for location based service has promoted the rapid development of pedestrian navigation and positioning technology. Among them, Pedestrian Dead Reckoning (PDR) based on inertial sensor can greatly improve the robustness of indoor and outdoor pedestrian navigation system due to its environment-friendly. This paper designs a robust PDR algorithm based on smart phone. This paper constructs multi-level constraints based on INS algorithm and establishing observation equation needed by EKF using the mutually complementary relationship among sensors, such as gyroscope accelerometer and magnetometer, and human dynamic model. The cumulative error of the system is less than 2% of the traveling distance when using different intelligent terminals, holding on hand both in indoor and outdoor test.