Analysis of Heading Correction Algorithm Based on Quaternion Method

  At present, the attitude solution for carrier has become a hot topic for precision navigation ofStrapdown Inertial Navigation System.In order to reduce the heading error caused by the drift of the gyro, an improved heading correction method based on Heuristic Drift Eliminationwas proposed. This method uses the quaternion to solve the carrier's heading, uses the pedestrian's heading angle deviation in the indoor environment to directly correct the pedestrian's heading, and then calculates the pedestrian heading trajectory.The experiment uses low-cost smart phones to compare and analyze the accuracy of different sampling frequencies and second-order Runge-Kutta method and fourth-order Runge-Kutta method to update the quaternion to solve the heading angle, it draw the conclusion that increasing the sampling frequency can reduce the heading error and improve the positioning accuracy.Experimental results show that this algorithm has certain reference value for navigation and positioning research.