With the development of MEMS sensors, pedestrian navigation has been a popular research. The paper realizes step detection and estimation for step length by only vertical accelerometer. It determines initial heading using accelerometers and magnetometers and calculates latter heading using gyroscopes by strap-down inertial navigation algorithm. Afterwards, it achieves the positioning goal for pedestrian using dead reckoning method. Definitively, the effectiveness of this approach is demonstrated

Fundamentals of Global Positioning System Receivers

Mohinder S. Grewal (作者),‎ Lawrence R. Weill (作者),‎ Angus P. Andrews (作者)

TDOA positioning in NLOS scenarios by particle filtering