Research on indoor pedestrian location based on miniature inertial measurement unit

In order to solve the problem that the indoor pedestrian navigation cannot receive the GPS signal, the inertial navigation and positioning technology, which does not rely on any external equipment or a priori database, is a more reliable method. The inertial navigation system can calculate the position, velocity and attitude information by collecting the acceleration and angular velocity information. On the basis of it we introduce zero speed correction, when the system detects pedestrians at zero speed state, namely the foot meets the ground, the Kalman filter algorithm is triggered and the state of the system is corrected to eliminate the errors of SINS. In the indoor environment, experiments were carried out for different walking routes. The simulation results show that the positioning accuracy of the navigation algorithm with zero velocity correction is improved obviously.