IMU/GPS based pedestrian localization

The low cost Inertial Measurement Unit(IMU) can be used to provide accurate position information of a pedestrian when it is combined with Global Positioning System(GPS). This paper investigates how the integration of IMU anf GPS can be effectively used in pedestrian localization. The position calculation is achieved in sequence by three different strategies, namely basic double integration of IMU data, Zero-velocity Update (ZUPT) and Extended Kalman Filter(EKF) based fusion of IMU and GPS data. Experiments that are conducted in two fields show that EKF based localization outperform the double integration and ZUPT methods in terms of both positioning accuracy and robustness.