Axis-Exchanged Compensation and Gait Parameters Analysis for High Accuracy Indoor Pedestrian Dead Reckoning

Table 1

Specifications of MEMS-IMU.

Sensor	Range	Sensitivity	Output noise
3-axis accelerometer MMA8453Q	±8 g	3.9 mg/LSB	126 μg/
3-axis gyroscope ITG3200	±2000 dps	14.375 LSB/(dps)	0.38 dps
3-axis magnetometer MAG3110	±1000 μT	0.1 μT/bit	0.4 μT rms