{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,30]],"date-time":"2025-10-30T07:12:42Z","timestamp":1761808362082,"version":"build-2065373602"},"reference-count":31,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2020,2,11]],"date-time":"2020-02-11T00:00:00Z","timestamp":1581379200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100012166","name":"National Key Research and Development Program of China","doi-asserted-by":"publisher","award":["2016YFB0502100,2016YFB0502102, 2016YFB0502103"],"award-info":[{"award-number":["2016YFB0502100,2016YFB0502102, 2016YFB0502103"]}],"id":[{"id":"10.13039\/501100012166","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>As pedestrian dead-reckoning (PDR), based on foot-mounted inertial sensors, suffers from accumulated error in velocity and heading, an improved heuristic drift elimination (iHDE) with a zero-velocity update (ZUPT) algorithm was proposed for simultaneously reducing the error in heading and velocity in complex paths, i.e., with pathways oriented at 45\u00b0, curved corridors, and wide areas. However, the iHDE algorithm does not consider the changes in pedestrian movement modes, and it can deteriorate when a pedestrian walks along a straight path without a pre-defined dominant direction. To solve these two problems, we propose enhanced heuristic drift elimination (eHDE) with an adaptive zero-velocity update (AZUPT) algorithm and novel heading correction algorithm. The relationships between the magnitude peaks of the y-axis angular rate and the detection thresholds were established only using the readings of the three-axis accelerometer and the three-axis gyroscopic, and a mechanism for constructing temporary dominant directions in real time was introduced. Real experiments were performed and the results showed that the proposed algorithm can improve the still-phase detection accuracy of a pedestrian at different movement motions and outperforms the iHDE algorithm in complex paths with many straight features.<\/jats:p>","DOI":"10.3390\/s20040951","type":"journal-article","created":{"date-parts":[[2020,2,11]],"date-time":"2020-02-11T11:45:30Z","timestamp":1581421530000},"page":"951","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":8,"title":["Enhanced Heuristic Drift Elimination with Adaptive Zero-Velocity Detection and Heading Correction Algorithms for Pedestrian Navigation"],"prefix":"10.3390","volume":"20","author":[{"given":"Ruihui","family":"Zhu","sequence":"first","affiliation":[{"name":"Key Laboratory of Land Environment and Disaster Monitoring, MNR, China University of Mining and Technology, Xuzhou 221116, China"},{"name":"State Key Laboratory of Satellite Navigation System and Equipment Technology, 589 ZhongShan Street, Qiaoxi District, Shijiazhuang 050081, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1903-242X","authenticated-orcid":false,"given":"Yunjia","family":"Wang","sequence":"additional","affiliation":[{"name":"Key Laboratory of Land Environment and Disaster Monitoring, MNR, China University of Mining and Technology, Xuzhou 221116, China"}]},{"given":"Baoguo","family":"Yu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Satellite Navigation System and Equipment Technology, 589 ZhongShan Street, Qiaoxi District, Shijiazhuang 050081, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1212-0715","authenticated-orcid":false,"given":"Xingli","family":"Gan","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Satellite Navigation System and Equipment Technology, 589 ZhongShan Street, Qiaoxi District, Shijiazhuang 050081, China"}]},{"given":"Haonan","family":"Jia","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Satellite Navigation System and Equipment Technology, 589 ZhongShan Street, Qiaoxi District, Shijiazhuang 050081, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5401-9098","authenticated-orcid":false,"given":"Boyuan","family":"Wang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Satellite Navigation System and Equipment Technology, 589 ZhongShan Street, Qiaoxi District, Shijiazhuang 050081, China"}]}],"member":"1968","published-online":{"date-parts":[[2020,2,11]]},"reference":[{"key":"ref_1","unstructured":"Borenstein, J., and Feng, L. 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