A hybrid step model and new azimuth estimation method for pedestrian dead reckoning

This paper proposes a hybrid step length model and a new azimuth estimation method based on the Pedestrian Dead Reckoning for personal indoor positioning. The hybrid step length model combines the information of the walking frequency and the variance of accelerations with the amplitudes of the acceleration signal. By weighting the azimuth estimated through the gyroscopes and the magnetometers respectively according to the angular rates, the accuracy of the azimuth estimation is improved.