A Robust Visual-Aided Inertial Navigation Algorithm for Pedestrians

Table 1

Results in the multi-motion experiment outdoor.

Sensor	Parameter	Index
Gyroscope	Bias stability	<8°/h
	Angle random walk	0.36°/h
	Sampling frequency	400 Hz
Accelerometer	Bias stability	0.03 mg
	Random walk	0.045 m/s/h^0.5
	Sampling frequency	400 Hz
Camera	Image resolution ratio	1280*720
	Baseline	36.2625 mm
	Sampling frequency	30 Hz
U-blox	Navigation sensitivity	–167 dBm
	Sampling frequency	10 Hz