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Modern smartphones contain a number of sensors that can be used for navigation when GPS signals are unavailable. Low cost MEMS gyros and accelerometers are increasingly becoming available in modern devices, however when used for positioning, they typically result in large errors after very short periods of time. This paper investigates using measurements(More)
This paper proposes an integration of 'building heading' information with ZUPT in a Kalman filter, using a shoe mounted IMU approach. This is done to reduce heading drift error, which remains a major problem in a standalone shoe mounted pedestrian navigation system. The standalone system used in this paper consists of only single low cost MEMS IMU that(More)
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