Improving pedestrian navigation system performance through the use of non-orthogonal redundant inertial measurement units

Employing the redundant number of inertial MEMS sensors is a promising line of pedestrian positioning technologies development offering a great potential in reliability, measurement accuracy and low level of noise. For this reason the article considers the design and realization features of a miniature pedestrian navigation system implementing this principle. Firstly, the model of a non-orthogonal redundant measurement unit measuring channels is presented in the article. Furthermore, details of algorithmic and hardware solutions used in the proposed pedestrian navigation system based on redundant inertial measurement unit are discussed. The results of the developed system's field tests demonstrating higher navigation accuracy for redundant navigation system than for non-redundant are also presented.