Aiming at the problems that in the process of indoor navigation calculation

heading calculation using mobile phone gyroscope has accumulated error and the parameters of PI controller are fixed

which make the environment adaptability of the filter is not strong

a multi-sensor fusion heading estimation algorithm based on gyroscope

gravimeter and magnetometer is proposed. Combining with the advantage that the gyroscope is less affected by the environment and the gravimeter and magnetometer have no accumulated error in the heading calculation

gravimeters and magnetometers are used to compensate for the drift error of the gyroscope

and the heading angle is solved by updating the quaternion to reduce high-frequency noise. At the same time

the Kalman filtering（ KF） is used to realize the data fusion with the heading angle calculated by the gyroscope integral

which improves the anti-interference ability of the filter and effectively reduces the influence of the integral accumulation error on the heading estimation.