Aiming at problem that there is accumulation error in indoor navigation algorithm

a pedestrian inertial navigation algorithm based on moving posture recognition is proposed. The method of pedestrian ’ foot posture recognition is introduced into the strapdown inertial navigation algorithm

the trajectory of pedestrian movement is divided in single step for computation of inertial navigation. Zero velocity update and movement gesture detection method are combined to determine static moment of each step

improve step number test result

correct speed and location information of pedestrians in static moment in order to reduce cumulative error; count inertial navigation data with slight error in early stage and build stride-frequency model

different algorithm strategy is taken when moving posture of pedestrian changed

as a result to ensure the accuracy of navigation algorithm. Experimental results shows that compared with the traditional algorithm of inertial navigation

the precision of the long distance navigation is improved.