Abstract
In an inertial navigation system, especially in a pedestrian dead-reckoning system, gyroscope bias can demonstrably reduce positioning accuracy. A novel gyroscope bias estimation algorithm is proposed, which estimates the bias of a gyroscope under any set of angle observations. Moreover, a method for obtaining Euler angles using map corridor information is proposed. The heading information obtained from a map is used to estimate the bias, and the estimated bias is used to correct the trajectories. Experimental results show that it is feasible for the algorithm to estimate the bias of the gyroscope.