Unlike industrial-grade Inertial Navigation Sensors (INSs) that can provide credible tracking performance, more affordable consumer-grade low-cost INSs produce drifts in heading angles and positions that result in a poor tracking accuracy. Researchers have proposed drift correction methods that attempt to attenuate the drifts when walking straight along the dominant directions is detected. While determining the type of a pedestrian's walk is essential before the heading corrections are made, the current detection techniques heavily rely on thresholding. This paper proposes a novel threshold-less method to detect turns in walking by using pelvic rotation and correct the heading angle based on consumer-grade INSs. The experiments indicate the proposed turn detector and heading correction methods produce very good results which can be applied for future pedestrian tracking, activity recognition or rehabilitation.
