Journal of Sensors / 2017 / Article / Fig 6

Research Article

A New PDR Navigation Device for Challenging Urban Environments

Figure 6

PDR-based positioning process using ULISS angular rates (), accelerations (), magnetic field (), and GNSS positions (). is the stride frequency. , , and are the roll, pitch, and yaw angles of ULISS, respectively. and are, respectively, the step length and walking direction.

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