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Trajectory estimation method of people in forest based on inertial sensor

Because of the poor satellite signal in the forest, the positioning and tracking is not accurate. A trajectory estimated method based on inertial sensor was designed including the calculation method of motion displacement, error data analysis and filtering processing methods, etc. The walking model was established respectively by combining the principle of track estimation and the principle of the step counting. Through the continuous motion experiments of various trajectories such as straight lines and curves, the calculation method of motion trajectory is verified and the error analysis of the experimental data is carried out. The motion distance and trajectory can be shown in this method. And the accuracy of the trajectory estimation can reach the centi-meter level.