Foot-mounted Indoor Pedestrian Positioning System Based on Low-Cost Inertial Senors

In this paper, we present an indoor positioning system using foot-mounted low cost Micro-Electro-Mechanical System (MEMS) sensors to derive the position and attitude of the wearer and plot the trajectory on the smartphone in realtime. The pedestrian’s motion information is collected by accelerometers and gyroscopes to achieve Pedestrian DeadReckoning (PDR) which is used to estimate the pedestrian’s rough position. A new zero velocity update (ZUPT) algorithm is developed to detect the standing still moment. The testing results show good performance of the proposed system. Keywords—foot-mounted; ZUPT; Kalman filter; inertial sensor bias;