Novel heading estimation method based on geomagnetic and IMU indoor fusion

Le résumé fourni par la source

Abstract Aiming at the problem of heading estimation in indoor pedestrian autonomous navigation and positioning, a heading estimation method based on the fusion of Magnetometer, Accelerometer, Rate gyro/Gyroscope sensor and geomagnetic field is proposed. Based on the high-precision positioning ability of Global Navigation Satellite System in outdoor environment and the international geomagnetic reference field model, a geomagnetic field reliability database without magnetic interference is constructed. The indoor geomagnetic field data are compared with the database, and different heading estimation strategies with and without geomagnetic field interference are proposed. Theoretical analysis and experimental verification show that compared with traditional methods, this method has higher positioning accuracy and heading estimation accuracy in terms of minimum error, maximum error, average error and root mean square error. Compared with the existing research, the algorithm has good stability and robustness, and has good scalability and scalability. Through data crowdsourcing, it provides a new solution to improve the accuracy of pedestrian dead reckoning heading estimation based on the Internet of things.

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