Research on the Algorithm Optimization of Autonomous Pedestrian Navigation and Drift Reduction Methods

The Pedestrian Navigation System using MIMU can complement the shortages of satellite navigation in indoor areas or tunnels, where satellite signals are weak or lost, and achieve reliable navigation with high accuracy in a period of time. The MIMU-based navigation system can be applied in numerous fields, such as personal localization services, rescue missions as well as tracking and monitoring inside huge buildings. So it has attracted great attention from both academies and industries. This thesis is aimed to satisfy the practical navigation demands of pedestrian (like individual soldier, firefighters, police officers, customers). This thesis designs Pedestrian Navigation System based on micro-sized and low-cost MIMU, and aided with multiple sensors. In order to improve entire accuracy of navigation and localization in complex walking routes and environments, this thesis proposes several algorithm optimization and drift reduction methods to enable lasting and high accurate navigation in long periods of time.