Outdoor pedestrian positioning mainly relies on the Global Navigation Satellite System (GNSS). The indoor experiment shows that the gyro-accelerometer asynchronous time is estimated effectively, and the positioning accuracy of PNS is improved by the proposed method after compensating for the errors caused by gyro-accelerometer asynchronous time. A filtering model is designed to calibrate the gyro-accelerometer asynchronous time, and a zero-velocity detection method based on the rate of attitude change is proposed. ![]() The effect of gyro-accelerometer asynchronous time on pedestrian navigation is analyzed. To solve this problem, a new error model of gyro-accelerometer asynchronous time is built. The gyro-accelerometer asynchronous time affects the positioning of PNS. However, in the foot-mounted pedestrian navigation system with MIMU or mobile phone as the main carrier, it is difficult to make the sampling time of gyros and accelerometers completely synchronous. ![]() ![]() Pedestrian Navigation System (PNS) is one of the research focuses of indoor positioning in GNSS-denied environments based on the MEMS Inertial Measurement Unit (MIMU).
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