Increased Error Observability of an Inertial Pedestrian Navigation System by Rotating IMU


  • Khairi Abdulrahim Facultyof Science and Technology, Universiti Sains Islam Malaysia (USIM)
  • Chris Hide Nottingham Geospatial Institute, University of Nottingham
  • Terry Moore Nottingham Geospatial Institute, University of Nottingham
  • Chris Hill Nottingham Geospatial Institute, University of Nottingham



Indoor pedestrian navigation suffers from the unavailability of useful GNSS signals for navigation. Often a low-cost non-GNSS inertial sensor is used to navigate indoors. However, using only a low-cost inertial sensor for the system degrades its performance due to the low observability of errors affecting such low-cost sensors. Of particular concern is the heading drift error, caused primarily by the unobservability of z-axis gyro bias errors, which results in a huge positioning error when navigating for more than a few seconds. In this paper, the observability of this error is increased by proposing a method of rotating the inertial sensor on its y-axis. The results from a field trial for the proposed innovative method are presented. The method was performed by rotating the sensor mechanically"?mounted on a shoe"?on a single axis. The method was shown to increase the observability of z-axis gyro bias errors of a low-cost sensor. This is very significant because no other integrated measurements from other sensors are required to increase error observability. This should potentially be very useful for autonomous low-cost inertial pedestrian navigation systems that require a long period of navigation time.


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