Methods and systems for adaptive pedestrian inertial navigation

A device configured for pedestrian inertial navigation, the device comprising:

• an inertial measurement unit configured to generate inertial data;
• and
• a processor coupled to the inertial measurement unit, the processor configured to
• receive inertial data from an inertial measurement unit, wherein the inertial data is generated by the inertial measurement unit and the inertial data includes at least one of accelerometer data for a plurality of axes and gyroscope data for a plurality of axes, and wherein the inertial measurement unit is mounted to a foot of a user,
• partition the inertial data into a plurality of partitions, wherein each partition of the inertial data is a full gait cycle,
• reduce dimensionality of the plurality of partitions using principle component analysis, wherein reducing dimensionality includes generating an independent linear function for inertial data received from the inertial measurement unit and using a validation approach to determine an output dimension of the principle component analysis,
• identify a floor type of each partition, wherein the floor type of each partition is determined using an artificial neural network,
• adapt one or more inertial navigation parameters for each partition using identified floor type, wherein a zero-velocity update threshold is adapted for a gait frequency and for floor type, and
• estimate a navigation position of the inertial measurement unit based on adapted inertial navigation parameters.