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A Waist-Attached PNS Algorithm Based on MIMU

Pedestrian Navigation System (PNS) is a system aims at determining the current location of person, recording the walking trajectory. This paper presents an algorithm of PNS based on lowperformance MEMS-IMU attaching to the waist of people. The algorithm consists of step detection, model identification, stride, heading determination and position estimation. A method to identify a user’s status, calibrate the length coefficient K by Least-Squares and update K online according to different models and acceleration is presented, which adaptively adjusts the calculation of stride length in case of different walking speeds and manners. The integration of INS and magnetic azimuth for heading direction is put forward and the walking trajectory is calculated by Dead Reckoning (DR). Several tests have been conducted and the algorithm performed well.