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