Heading errors caused by gyroscope drift affect the positioning precision of pedestrian dead reckoning, and these errors are even greater for smartphone-based reckoning. In this study, an optimised improved heuristic drift elimination (O-iHDE) method is proposed to correct the heading errors on a smartphone gyroscope. Based on an analysis of the improved heuristic drift elimination (iHDE) and enhanced improved heuristic drift elimination (E-iHDE) algorithms, the quaternion method is used to update the attitude and angle threshold judgement conditions, and a method for correcting the quaternion is added to eliminate the heading errors caused by random gyro errors. The analysis of multiple sets of experiments shows that the new method improves the ability to discern and correct the walking route, and the heading accuracy is improved by more than 90%, which extends the effective operation time of pedestrian dead reckoning positioning based on the step-by-step system.

中文翻译：

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基于智能手机陀螺仪的改进启发式漂移消除算法优化

陀螺仪漂移引起的航向误差影响行人航位推算的定位精度，而基于智能手机的航位推算这些误差更大。在这项研究中，提出了一种优化的改进启发式漂移消除 (O-iHDE) 方法来纠正智能手机陀螺仪上的航向误差。在分析改进启发式漂移消除（iHDE）和增强型改进启发式漂移消除（E-iHDE）算法的基础上，采用四元数方法更新姿态角阈值判断条件，并增加了四元数校正方法消除随机陀螺误差引起的航向误差。多组实验分析表明，新方法提高了对行走路线的辨别和纠正能力，航向精度提高了90%以上，