CONSTRAINING INERTIAL NAVIGATION SYSTEM SOLUTION ACCORDING TO PEDOMETRICAL DATA

摘要

Described herein are techniques related to constraining Inertial Navigation System (INS) solution according to pedometrical data. Data from sensors external to an inertial navigation module are leveraged in computing the final solution for indoor navigation. The techniques render the drift and divergence in inertial sensors to be much slower. Additionally, the techniques are not dependent on the attitude of the mobile device used for indoor navigation relative to the user's body.