Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Design and Implementation of an Inertial Navigation System for
  Pedestrians Based on a Low-Cost MEMS IMU   Inertial navigation systems for pedestrians are infrastructure-less and can
achieve sub-meter accuracy in the short/medium period. However, when low-cost
inertial measurement units (IMU) are employed for their implementation, they
suffer from a slowly growing drift between the true pedestrian position and the
corresponding estimated position. In this paper we illustrate a novel solution
to mitigate such a drift by: a) using only accelerometer and gyroscope
measurements (no magnetometers required); b) including the sensor error model
parameters in the state vector of an extended Kalman filter; c) adopting a
novel soft heuristic for foot stance detection and for zero-velocity updates.
Experimental results evidence that our inertial-only navigation system can
achieve similar or better performance with respect to pedestrian dead-reckoning
systems presented in related studies, although the adopted IMU is less accurate
than more expensive counterparts.

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The categories of this paper are: atom-ph
8
The categories of this paper are: hep-ex
7
The categories of this paper are: hep-th
21
The categories of this paper are: adap-org
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The categories of this paper are: patt-sol
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The categories of this paper are: mtrl-th
0
The categories of this paper are: hep-ph
5
The categories of this paper are: gr-qc
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The categories of this paper are: bayes-an
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The categories of this paper are: chem-ph
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The categories of this paper are: hep-lat
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The categories of this paper are: q-fin
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The categories of this paper are: quant-ph
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The categories of this paper are: acc-phys
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The categories of this paper are: alg-geom
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The categories of this paper are: dg-ga