Indoor pedestrian navigation using an INS/EKF framework for yaw drift reduction and a foot-mounted IMU

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Accurate Pedestrian Indoor Navigation by Tightly Coupling Foot-Mounted IMU and RFID Measurements (2012, methodology): “These methodologies, often called Pedestrian Dead-Reckoning (PDR) solutions, can integrate the user step lengths and heading angles at each detected step, to estimate the user’s position [6], [7], [8], [9]; or, alternatively, integrate accelerometer and gyroscope readings of a foot-attached IMU (by ”
Recent Advances in Indoor Localization: A Survey on Theoretical Approaches and Applications (2017, background): “Nevertheless, inertial sensors, usually based on low-cost MicroElectroMechanical System (MEMS), suffer from errors which in turn affect the localization accuracy ‎[29]‎[30].”
Survey of Motion Tracking Methods Based on Inertial Sensors: A Focus on Upper Limb Human Motion (2017, methodology): “[69] 2010 pose localization foot ori foot pos method 1 acc, 1 gyro, 1 mag rot mat KF params EKF, INS 1, known path foot pos foot pos 450–1350 bias est, lin acc est, ZUPT, ZARU, HDR, 100s valid trial 125m [87] 2010 upper limbs link ori link pos method 2 acc, 2 gyro, 2 mag kinematic chain, rot mat KF ”