Anti-Magnetic Disturbance Pedestrians Navigation System Based on MEMS Inertial Sensors

The rapid development of the micro electromechanical system (MEMS) makes it possible to develop portable inertial positioning devices with long term accuracy. This type of devices is suitable for applications in complex environment where the satellite signals are not available. However, due to the accumulation of the attitude and orientation errors, large error in position may still exist in the recursive calculation especially in the indoor circumstance where the earth's magnetic field is disturbed seriously. Therefore, we report a new pedestrian navigation algorithm based on foot-bounded inertial sensors which could provide precise navigation results during the whole period of positioning even undergoing severe magnetic field disturbance. In particular, we also developed a real-time navigation system implementing our proposed algorithm. The experiment shows that the system could achieve about 1% relevant error.