Gyroscope drift correction based on TDoA technology in support of Pedestrian Dead Reckoning

Precise and robust localization of humans is one of the most demanding challenges that researchers face these days. GPS provides a perfect solution in open areas with acceptable localization accuracy. However, in indoor environments where GPS service is almost denied, dead reckoning algorithms that utilize low cost sensors provide alternative solutions for such environments. In this work, we use low cost MEMS (accelerometer and gyroscope) sensors to achieve Pedestrian Dead Reckoning (PDR) based on the zero-velocity update (ZUPT) strategy. We also propose a novel drift correction mechanism using a TDoA technology; namely, the MIT Cricket.