Abstract:Aiming at the problems in existing underground personnel positioning systems, an assisted positioning method based on pedestrian dead reckoning is proposed. Low-cost Inertial Measurement Unit(IMU) and magnetometer are employed to constitute a stable Attitude Heading Reference System (AHRS). The theory of inertial navigation is utilized, an algorithm for step detection is described, and Zero velocity Update(ZUPT) is adopted for velocity and position estimation to compose a pedestrian dead reckoning system. An experiment is performed in the corridor of a laboratory building to emulate the underground mine road environment. The experimental results demonstrate that the dead reckoning performs well and this method is an effective complement to existing underground positioning by improving the positioning accuracy.