... ] T , and the quaternion differential equation expression after expanding is: Altitude error correction Heading drift correction MEMS sensors Pedestrian navigation system Zero velocity update At present, global navigation satellite system has better solved the problem of locating...

...Wen Liu; Yingjun Zhang; Xuefeng Yang; Shengwei Xing Purpose – The aim of this article is to present a PIN (pedestrian inertial navigation) solution that incorporates altitude error correction, which eliminates the altitude error accurately without using external sensors. The main problem of PIN...