The Improved Constraint Methods for Foot-Mounted Pedestrian Three-Dimensional Inertial Navigation

<table class="table-group" id="tab2"><tr><td><table class="table"><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr class="thead"><td class="align_left">Position method</td><td class="align_center">Position error (m)</td><td class="align_center">Error percent (%)</td></tr><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr><td class="align_left">ZUPT</td><td class="align_center">1.02</td><td class="align_center"><span style="width: 15.6015ptpx;"><svg height="8.55521pt" id="M141" style="vertical-align:-0.2063904pt" version="1.1" viewbox="-0.0498162 -8.34882 15.6015 8.55521" width="15.6015pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M384 0V27C293 34 287 42 287 114V635C232 613 172 594 109 583V559L157 557C201 555 205 550 205 499V114C205 42 199 34 109 27V0H384Z"></path></g><g transform="matrix(.013,0,0,-0.013,6.24,0)"><path d="M113 -12C146 -12 170 11 170 46C170 78 146 103 114 103S58 78 58 46C58 11 82 -12 113 -12Z"></path></g><g transform="matrix(.013,0,0,-0.013,9.204,0)"><path d="M153 550H386L412 615L406 623H120L82 318C104 327 142 338 184 338C294 338 347 275 347 187C347 112 305 39 221 39C160 39 119 71 97 89C88 97 80 96 71 90C59 80 50 67 49 57C48 45 52 36 66 23C80 9 123 -12 169 -12C221 -11 288 15 342 59C403 109 431 165 431 225C431 308 366 395 238 395C212 395 165 379 127 364L153 550Z"></path></g></svg></span></td></tr><tr><td class="align_left">Proposed method</td><td class="align_center">0.19</td><td class="align_center">0.29</td></tr><tr class="table-tr"><td colspan="3"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Error results of two-dimensional plane.</div>

Mathematical Problems in Engineering

tab2

Table 2

Table 2: The Improved Constraint Methods for Foot-Mounted Pedestrian Three-Dimensional Inertial Navigation 