The Pedestrian Integrated Navigation System with micro IMU/GPS/magnetometer/barometric altimeter

Abstract

A Pedestrian Integrated Navigation System (PINS) is presented in this paper. PINS includes micro Inertial Measurement Units (IMU), Global Positioning System (GPS) module, magnetometer and barometric altimeter. It is mounted on pedestrian’s waist. When a pedestrian walks, his position, velocity and altitude can be obtained by PINS. The pedestrian gait big or small is detected automatically. According to the information of IMU, GPS, magnetometer and barometric altimeter, Extended Kalman Filter (EKF) is provided. Indoor and outdoor test results show that when the GPS signal is present, the azimuth error is better than 0.5 degrees, the position error is better than 5 meters, and when the GPS signal is absent, the azimuth error is better than 1 degree, the position error is better than 3 percents of the total route, the height error is better than 1 meter and the interior floor can be identified clearly.