Abstract
An inertial navigation system (INS) that uses portable and service inertial measurement units (IMUs) can potentially obtain two-dimensional (2D) trajectories of pedestrians. The use of updated algorithms is useful in reducing drift accumulation errors of inertial sensors. This paper introduces an improved navigation technique based on the zero-velocity update (ZUPT) method in order to measure the displacement length. Meanwhile, the zero-height update (ZHUPT) and the modified heuristic drift reduction (HDR) methods are adopted to decrease measurement error within a 2D plane. Experimental results indicate that the navigation errors of 2D trajectories are below 2%. Furthermore, a height update method has been proposed for three-dimensional (3D) navigation that uses the actual slope angle of the stairs and can restrain the height divergence. The terminal height error accounts for 1.28% of the total altitude variation.
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