Research on the Error Correction Method of Strap-down Inertial Navigation System for Pedestrian Positioning and Navigation

Global Navigation Satellite Systems (GNSS) experience drift and inability to provide accurate positioning services when obstructed and subjected to electromagnetic interference. Hence, Inertial Navigation Systems (INS) are widely utilized in indoor and heavily obstructed outdoor scenarios, such as fire rescue and railway personnel location, due to their advantages of lightweight, low power consumption, low cost, and interference resistance. However, the low frequency inertial measurement unit (IMU) suffers from the problem of low sampling data frequency and error dispersion over time, which will affect the final positioning accuracy of INS. To address these issues, this paper proposed an error correction method of strap-down Inertial Navigation System for pedestrian positioning and navigation, combining Piecewise Cubic Hermite Interpolation Polynomial (PCHIP), multi-threshold zero velocity detection and Cubature Kalman Filter (CKF). The experimental results demonstrate that this method can effectively correct the cumulative error of Inertial Navigation System. During the test with a pedestrian walking time of 85 seconds, the cumulative error was reduced to 0.1703 meters, limiting the cumulative error to 0.28% of the entire walking distance.