SHAKF-PU: Sage–Husa Adaptive Kalman Filtering-Based Pedestrian Characteristic Parameter Update Mechanism for Enhancing Step Length Estimation in Pedestrian Dead Reckoning

<div>Cumulative distance error of four update methods.</div>

Applied Bionics and Biomechanics

fig4

Figure 4

Figure 4: SHAKF-PU: Sage–Husa Adaptive Kalman Filtering-Based Pedestrian Characteristic Parameter Update Mechanism for Enhancing Step Length Estimation in Pedestrian Dead Reckoning 

Figure 4 | SHAKF-PU: Sage–Husa Adaptive Kalman Filtering-Based Pedestrian Characteristic Parameter Update Mechanism for Enhancing Step Length Estimation in Pedestrian Dead Reckoning 