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

Table 2

Control parameter.

Parameter	μ	γ1	ε1	β1	γ2	ε2	β2	γ3
Value	0.02	0.018	0.02	0.0075	0.0015	0.003	0.001	0.001