Pedestrian inertial navigation method suitable for motion platform scene

The invention discloses a pedestrian inertial navigation method suitable for a motion platform scene, which comprises the following steps: (1) acquiring pedestrian foot binding type IMU (Inertial Measurement Unit) data, and estimating a zero-speed detection threshold value; (2) preprocessing the data, and carrying out real-time calculation on the speed, the attitude and the position; (3) establishing a gait detection model, and performing zero-speed detection by using the estimated zero-speed detection threshold; (4) in a zero-speed state, performing zero-speed correction by using a Kalman filter; otherwise, correction is not carried out; (5) comparing the related speed obtained by resolving in the step (2) with a set threshold value to judge whether a motion platform exists at the current moment and the type of the motion platform; when existence of a certain type of motion platform is detected, motion sub-states of the platform are classified, different speed constraints are applied, and the speed, posture