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Abstract
It is desired to obtain accurate elevation attitude information and navigation positioning information in the pedestrian integrated navigation monitoring system (PINMS). With a multi-sensors combination, pressure sensor is applied with the method of differential barometric altimeter to obtain the accurate height information as a constraint condition to solve positioning equations. A magneto-resistive sensor is applied to measure the orientation angle for determining the track. In addition, the acceleration sensor output and pseudo-range measurement difference value in continuous time is innovatively put forward to correct and calculate the walking distance and pedestrian dead-reckoning for reducing the error accumulation. Then we combine the measurements with the federal Kalman filter algorithm for data fusion to assist the global positioning system to complete the design of a PINMS. The PINMS can achieve seamless continuity requirements, in which elevation resolution is less than 0.2 m, the error in elevation is less than 1 m and the error in plane is less than 2 m, which are good figures if compared with other works using inertial measurement units of higher performance. Moreover, it can accurately measure the attitude information of a pedestrian navigation system in real-time.