On single sensor-based inertial navigation

In this paper, we compare two novel algorithms for pedestrian navigation based on signals collected by a single wearable Magnetic, Angular Rate, and Gravity (MARG) sensor. The two navigation algorithms, denoted as Enhanced Pedestrian Dead Reckoning (EPDR) and De-Drifted Propagation (DDP), require the placement of the MARG sensor on the foot or on the chest of the test subject, respectively. Different methods for gait characterization are compared, evaluating navigation dynamics by using data collected through an extensive experimental campaign. The main goal of this research is to investigate the peculiarities of different inertial navigation algorithms, in order to highlight the impact of the sensor's placement, together with inertial sensor issues. Considering a closed path (i.e., ending at the starting point), the relative distance error between the starting point and the final estimated position is about 2% of the total travelled distance for both DDP and EPDR navigation algorithms. On the other hand, the error between the initial heading angle and the final estimated one is approximately 10° for EPDR and 7° for DDP, respectively