An Optimal Enhanced Kalman Filter for a ZUPT-Aided Pedestrian Positioning Coupling Model

An Optimal Enhanced Kalman Filter for a ZUPT-Aided Pedestrian Positioning Coupling Model

Aimed at overcoming the problems of cumulative errors and low positioning accuracy in single Inertial Navigation Systems (INS), an Optimal Enhanced Kalman Filter (OEKF) is proposed in this paper to achieve accurate positioning of pedestrians within an enclosed environment. Firstly, the errors of the...

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Bibliographic Details
Main Authors: Qigao Fan, Hai Zhang, Yan Sun, Yixin Zhu, Xiangpeng Zhuang, Jie Jia, Pengsong Zhang
Format: Article
Language:English
Published: MDPI AG 2018-05-01
Series:Sensors
Subjects:
pedestrian positioning
attitude fusion filter
zero velocity update algorithm
OEKF
Online Access:http://www.mdpi.com/1424-8220/18/5/1404

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