中文摘要：

无信标环境下的行人导航问题是目前导航领域的难题和研究热点,考虑到系统的便携性和实用性,行人自主导航系统多采用惯性器件进行定位解算。针对当前的行人惯性导航系统航向角发散问题,在启发式漂移消除算法（HDE）的基础上,提出一种基于主方向的航向修正算法,根据室内的行走方向大多分为8个主方向的事实,当检测到行人轨迹为直线时,将当前的航向角与主方向角的差值作为观测量进行卡尔曼滤波,对航向角进行修正,并利用腰部PDR的方案进行了单圈和两圈矩形轨迹实验。实验结果表明,该算法在航向修正方面具有一定有效性,且重复性好,定位误差为总路程的1%～2%。

英文摘要：

Pedestrian navigation in a non beacon environment is a difficult problem and a hot research topic in the field of navigation. Considering the portability and practicality of the system, the pedestrian self-navigation system uses the inertial device for positioning. Aiming at the heading divergence problem of the current pedestrian inertial navigation system, a heading correction algorithm based on the main direction under the foundation of Heuristic Drift Elimination is proposed. It is a fact that most of the corridors and the paths in the man-made buildings are perpendicular or parallel to each other. The heading direction is divided into eight directions. The difference between the current heading and the main direction is as the observation value when the pedestrian is walking along a straight line. Then the filter is used to correct the heading angels, Single rectangle and double rectangle tests are done. The results show that the algorithm can correct the heading direction efficiently and the location error is about 1% to 2% of total travel distance.