In this article, we introduce a pedestrian dead reckoning (PDR)-based navigation device that does not require global navigation satellite system (GNSS) signals or beacons and works with an inertial measurement unit (IMU) mounted on its waist belt. The system identifies the individual by their walking pattern to use the proper gains in the computations, estimates the attitude by applying an unscented Kalman filter, and finally derives the position in three dimensions with the help of a step detection algorithm. The experimental results show an outdoor 4.7-km walk resulting in an error of 0.96%.

中文翻译：

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基于卡尔曼滤波惯性数据的可穿戴行人定位与步态识别系统

在本文中，我们介绍了一种基于行人航位推算（PDR）的导航设备，该设备不需要全球导航卫星系统（GNSS）信号或信标，并且可以与安装在其腰带上的惯性测量单元（IMU）一起使用。系统通过步行模式识别个人，以在计算中使用适当的增益，通过应用无味的卡尔曼滤波器估计姿态，最后借助步检测算法在三个维度上得出位置。实验结果表明，室外4.7公里的行走导致0.96％的误差。