DOI Number : 10.5614/j.eng.technol.sci.2014.46.2.7
Hits : 17

Increased Error Observability of an Inertial Pedestrian Navigation System by Rotating IMU

Khairi Abdulrahim1, Chris Hide2, Terry Moore2 & Chris Hill2

1Facultyof Science and Technology, Universiti Sains Islam Malaysia (USIM),
Bandar Baru Nilai, Nilai 71800, Negeri Sembilan, Malaysia
2Nottingham Geospatial Institute, University of Nottingham,
NG7 2RD, Nottingham, UK

Abstract. Indoor pedestrian navigation suffers from the unavailability of useful GNSS signals for navigation. Often a low-cost non-GNSS inertial sensor is used to navigate indoors. However, using only a low-cost inertial sensor for the system degrades its performance due to the low observability of errors affecting such low-cost sensors. Of particular concern is the heading drift error, caused primarily by the unobservability of z-axis gyro bias errors, which results in a huge positioning error when navigating for more than a few seconds. In this paper, the observability of this error is increased by proposing a method of rotating the inertial sensor on its y-axis. The results from a field trial for the proposed innovative method are presented. The method was performed by rotating the sensor mechanically–mounted on a shoe–on a single axis. The method was shown to increase the observability of z-axis gyro bias errors of a low-cost sensor. This is very significant because no other integrated measurements from other sensors are required to increase error observability. This should potentially be very useful for autonomous low-cost inertial pedestrian navigation systems that require a long period of navigation time.

Keywords: error observability; inertial; low-cost; pedestrian navigation; sensor.

Download Article
Bahasa Indonesia | English


Begin on 10 October 2014 this website is no longer activated for article process in Journal of Mathematical and Fundamental Sciences, Journal of Engineering and Technological Sciences, Journal of ICT Research and Applications and Journal of Visual Art and Design. The next process will be proceeded under new website at

For detail information please contact us to:

       ITB Journal Visitor Number #24486320       
       Jl. Tamansari 64, Bandung 40116, Indonesia Visitor IP Address #       
       Tel : +62-22-250 1759 ext. 121 © 2011 Institut Teknologi Bandung       
       Fax : +62-22-250 4010, +62-22-251 1215 XHTML + CSS + RSS       
       E-mail : or Developed by AVE