*3.2. Experiment and Verification*

#### 3.2.1. Experimental Conditions

In order to further verify the practicability and effectiveness of the proposed method, this paper verifies its effect through experiments. In the experiment, five IMUs are used to collect pedestrian movement data, of which four IMUs use FSS-IMU6132 independently designed by Forsense Technology Company to collect accelerometer and gyroscope data with a sampling frequency of 100 Hz; One MTI-G-710 inertial device of XSENS Company is used to collect air pressure data with a sampling frequency of 50 hz. The above five sensors are all connected to Raspberry Pie 4B through data lines, and the mobile phone app controls Raspberry Pie to collect data through Bluetooth communication. The sensor installation method is shown in Figure 12.

The performance parameters of FSS-IMU6132 are shown in Table 4.

**Table 4.** Performance parameters of FSS-IMU6132.


The performance parameters of MTI-G-710 are shown in Table 5 below.

**Table 5.** Performance parameter of XSENS MTI-G-710.


The computer performance parameters are shown in Table 1.

**Figure 12.** Schematic diagram of sensor installation. (**a**) Installation diagram of sensors on waist. (**b**) Installation diagram of sensors on leg and foot.

3.2.2. Experimental Verification Analysis
