Dual-mode indoor personal navigation system and method based on double IMUs

The invention discloses a dual-mode indoor personal navigation system and method based on double IMUs. The dual-mode indoor personal navigation system based on the double IMUs comprises a reference system and a pedestrian navigation system, the reference system comprises a coded disc and an IMU fixed to the coded disc, and the pedestrian navigation system comprises a foot IMU, a shoulder electronic compass and a controller; the foot IMU is connected with the shoulder electronic compass, and the reference system, the foot IMU and the shoulder electronic compass are connected with the controller. The dual-mode indoor personal navigation system and method based on the double IMUs have the advantages that by means of a dual-mode navigation algorithm, limitation on error drift of IMU calculation can be conducted in the whole walking link, and therefore the calculation accuracy of the IMUs is improved.