Dead reckoning
Here we use path integration on real yaw attitude time series data gathered on the UPenn campus from the magnetometer on a smartphone. We compare how the estimated trajectory differs from a GPS estimate.
We find that dead reckoning produces extremely reliable position estimates. To further improve performance, it is possible to combine GPS and dead reckoning. We can periodically correct our dead reckoning estimates (which have a tendency to drift) using GPS (which is correct on average). A complementary filter can be used for this purpose.
