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

<table class="table-group" id="tab4"><tr><td><table class="table"><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr class="thead"><td class="align_left">Test algorithm</td><td class="align_center">Average error of heading angle (°)</td></tr><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr><td class="align_left">Quaternion method</td><td class="align_center">2.734</td></tr><tr><td class="align_left">GDA + EKF</td><td class="align_center">1.367</td></tr><tr><td class="align_left">AGDA + EKF</td><td class="align_center">1.164</td></tr><tr><td class="align_left">AGDA + DEKF</td><td class="align_center">0.947</td></tr><tr class="table-tr"><td colspan="2"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Average error of heading angle in test 2.</div>

Complexity

tab4

Table 4

Table 4: Improved Pedestrian Positioning with Inertial Sensor Based on Adaptive Gradient Descent and Double-Constrained Extended Kalman Filter 