Height estimation scheme of low-cost pedestrian dead-reckoning system using Kalman Filter and walk condition estimation algorithm

In this paper, we propose a height estimation scheme for Inertial Measurement Unit (IMU)-based PDR system in indoor buildings. Basically, we utilize a barometer to estimate height position of pedestrian. In addition, we design a KF and a WSEA to minimize the estimation error due to the barometer. The proposed algorithm has been tested in a real test bed. The experimental results show that the proposed algorithms mitigate the estimation error.