Implement of cooperative navigation in pedestrian navigation based on distance restraint

The method of cooperative navigation is proposed in this study to solve the terrible results of the indoor pedestrian navigation due to GPS information unavailable and the serious divergence of inertial navigation. To improve the pedestrian navigation accuracy, the paper designs a cooperative pedestrian navigation system which is based on the distance restraint between the pedestrians and applies the information filter to get the navigation result. The experiment is designed to prove the effectiveness of cooperative pedestrian navigation using the MIMU and UWB measurement equipment. The final results show that the interactive fusion of navigation information for each pedestrian is achieved and the divergence of the navigation results is restrained.