Section: New Results

A Comparative Analysis of Attitude Estimation

We investigate the precision of attitude estimation techniques in the context of pedestrian dead-reckoning with commodity smartphones. We propose a comparative analysis of state-of-the-art algorithms for attitude estimation in this setting. We provide an experimental setup with a precise ground truth obtained with a motion capture system. We precisely quantify the error in attitude estimation obtained with each technique. We discuss the obtained results and analyse advantages and limitations of current technology for further PDR research.