Improved Pedestrian Positioning with Inertial Sensor Based on Adaptive Gradient Descent and Double-Constrained Extended Kalman Filter

Table 1

MPU-9150 parameters.

	Sensors		Typical
Gyro	Bias repeatability		0.06
	Noise density		0.005
	Full-scale range		±1000
Accelerometer	Bias repeatability		0.0392
	Noise density		400
	Full-scale range	(g)	±2
Magnetometer	Full-scale range		±1200