Computing

iv There is a strong need for an accurate pedestrian navigation system, functional also in GNSS challenging environments, namely urban areas and indoors, for improved safety and to enhance everyday life. Pedestrian navigation is mainly needed in these environments that are challenging for GNSS but also for other RF positioning sys-tems and some non-RF systems such as the magnetometry used for heading due to the presence of ferrous material. Indoor and urban navigation has been an active re-search area for years. There is no individual system at this time that can address all needs set for pedestrian navigation in these environments, but a fused solution of dif-ferent sensors can provide better accuracy, availability and continuity. Self-contained sensors, namely digital compasses for measuring heading, gyroscopes for heading changes and accelerometers for the user speed, constitute a good option for pedes-trian navigation. However, their performance suffers from noise and biases that resul