چکیده (انگلیسی):

Pedestrian navigation especially indoors suffers from the unavailability of useful GNSS signals for positioning.
Alternatively, a low-cost Inertial Measurement Unit (IMU) positioning system that does not depend on the GNSS
signal can be used for indoor navigation. However its performance is still compromised because of the fastaccumulating
heading drift error affecting such a low-cost IMU sensor. This results in a huge positioning error
when navigating more than a few seconds using only the low-cost sensor. In this study, real field trials results are
presented when a foot-mounted IMU is rotated on a single axis. Two promising results have been obtained. First,
it mitigates the heading drift error significantly and second, it increases the observability of IMU z-axis gyro bias
error. This has resulted in a greatly reduced error in position for the low-cost pedestrian navigation system.