Method of Smartphone Navigation Heading Compensation Based on Gravimeter

Smartphone based pedestrian inertial navigation system usually uses the Pedestrian Dead Reckoning (PDR) algorithm to achieve navigation and positioning. The traditional PDR algorithm requires inertial devices to remain a stationary position relative to the human body, however, in the field of smart pedestrian navigation, smartphone can’t always keep a stationary posture when it is being used. When the way of using smartphone has been changed, traditional PDR algorithm will give the wrong heading estimation which is caused by the change of smartphone’s attitude. Therefore, in order to satisfy the navigation demand for smartphone pedestrian inertial positioning especially when the using way changed, a Heading Compensation with Gravity Assisted (HCGA) method is proposed in this paper. This method will judge the change of smartphone’s attitude and compensate heading based on data from gravity sensor. The result of experiment shows that using HCGA method, it can be distinguished whether the change of heading caused by the attitude change automatically when the change of heading is detected, then compensate the result of heading. In this way, the influence of navigation solution caused by different handheld modes will be reduced.