Robust Heading Estimation for Indoor Pedestrian Navigation Using Unconstrained Smartphones

Figure 3

A typical example of acceleration signals when position transitions occur during a pair of device carrying positions: (a) hand-held and phone-call; (b) hand-held and swinging-hand; (c) hand-held and in-pocket; (d) swinging-hand and in-pocket; (e) phone-call and swinging-hand; (f) phone-call and in-pocket.

(a)

(b)

(c)

(d)

(e)

(f)