Cooperative localisation with hybrid inertial navigation system/pedestrian dead reckoning tracking for GPS-denied environments

In this paper, we develop a novel probabilistic hybrid inertial navigation system (INS)/pedestrian dead reckoning (PDR) measurement tracking algorithm, namely (PHIMTA), that provides high accuracy tracking in slow pedestrian scenarios. We then combine it with the latest localisation algorithms, such as grid-based belief propagation (GBP) and stop-and-go (SnG), that allow for improved accuracy in GPS-denied environments.