Resumen de Robust heading estimation in mobile phones

Fernando Casado Martín, Adriana Nieto Sanjuanero, Roberto Iglesias, Carlos V. Regueiro , Senén Barro

• Nowadays, mobile phones are used more and more for purposesthat have nothing to do with phone calls or simple data transfers.One example is indoor inertial navigation. Within this task, a centralproblem is to obtain a good estimation of the user heading, robust to magnetic interference and changes in the position of the mobile device with respect to the user. In this paper we propose a method able to provide ing as a result of detecting the relative positionof the mobile phone with respect to the user, together with a heuristic computation of the heading from different Euler representations.We have performed an experimental validation of our proposal comparing it with the Android default compass. The results confirm the good performance of our method.