A Robust GNSS/PDR Integration Scheme with GRU-Based Zero-Velocity Detection for Mass-Pedestrians

Aiming at the problem of high-precision positioning of mass-pedestrians with low-cost sensors, a robust single-antenna Global Navigation Satellite System (GNSS)/Pedestrian Dead Reckoning (PDR) integration scheme is proposed with Gate Recurrent Unit (GRU)-based zero-velocity detector. Based on the foot-mounted pedestrian navigation system, the error state extended Kalman filter (EKF) framework is used to fuse GNSS position, zero-velocity state, barometer elevation, and other information. The main algorithms include improved carrier phase smoothing pseudo-range GNSS single-point positioning, GRU-based zero-velocity detection, and adaptive fusion algorithm of GNSS and PDR. Finally, the scheme was tested. The root mean square error (RMSE) of the horizontal error in the open and complex environments is lower than 1 m and 1.5 m respectively. In the indoor elevation experiment where the elevation difference of upstairs and downstairs exceeds 25 m, the elevation error is lower than 1 m. This result can provide technical reference for the accurate and continuous acquisition of public pedestrian location information.