Use of high sensitivity GNSS receiver Doppler measurements for indoor pedestrian dead reckoning.

Dead-reckoning (DR) algorithms, which use self-contained inertial sensors combined with gait analysis, have proven to be effective for pedestrian navigation purposes. In such DR systems, the primary error is often due to accumulated heading drifts. By tightly integrating global navigation satellite system (GNSS) Doppler measurements with DR, such accumulated heading errors can usually be accurately compensated.