Abstract
According to the application requirements of pedestrian navigation, this paper designed a pedestrian navigation system based on micro inertial measurement unit and studied the pedestrian navigation algorithm. The method uses micro inertial measurement unit installed on the foot to measure the pedestrian movement parameters, and then calculate attitude, velocity and position information, meanwhile, multi conditions method is used to detect the zero velocity interval in walking, which trigged the kalman filter and then estimating the system state error parameters and the navigation parameter can be corrected, so that the navigation accuracy can be improved. Finally, rectangular closed loop path experiment by installing the MIMU in pedestrian foot was carried out, the end position error is 1.1% of the total walking distance. Therefore, the experimental results verify the feasibility and effectiveness of the system algorithm, which laid a foundation for furt her pedestrian navigation under complex conditions.
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