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Improved Pedestrian Navigation Based on Drift-Reduced MEMS IMU Chip

Authors: Eric Foxlin and Sheng Wan, Thales
Presented:  ION 2010 International Technical Meeting, January 25-27, 2010, San Diego, CA

Abstract

We previously presented a prototype of a personal navigation system called NavShoe™ which uses shoe-mounted inertial sensors and magnetometers to achieve GPS-denied navigation with very low drift rates in most circumstances.  Zero-velocity updates (ZUPTs) were obtained during the stance phase of each step to correct position and velocity drift, and carefully-screened and compensated magnetometer readings helped constrain the heading drift of the low-cost MEMS gyroscopes. 

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