Inertial navigation systems for pedestrians are infrastructure-less and canachieve sub-meter accuracy in the short/medium period. However, when low-costinertial measurement units (IMU) are employed for their implementation, theysuffer from a slowly growing drift between the true pedestrian position and thecorresponding estimated position. In this paper we illustrate a novel solutionto mitigate such a drift by: a) using only accelerometer and gyroscopemeasurements (no magnetometers required); b) including the sensor error modelparameters in the state vector of an extended Kalman filter; c) adopting anovel soft heuristic for foot stance detection and for zero-velocity updates.Experimental results evidence that our inertial-only navigation system canachieve similar or better performance with respect to pedestrian dead-reckoningsystems presented in related studies, although the adopted IMU is less accuratethan more expensive counterparts.
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