Settings of the Proposed Algorithm

σζa,i,j and Embedded Image are only relevant for the measured data containing user motion in Section 3.2.

inclination-EKFbias-EKFheading update
σa0.1 m / s2σm2.0 μTγ10.0°
σω0.1°/sσζδ0.5 μT / sγψ5.0°
σζg, i0.02 m / s2α0.1γm0.95
σζa, i, j0.02 m / s2γσm3.0
σζa, i, j0.02 m / s3dtW, u5.0 s
dtW, 03.0 s