  This work proposes algorithms for reconstruction of closed-loop pedestrian
trajectories based on two foot-mounted inertial measurement units (IMU). The
first proposed algorithm allows calculation of a trajectory using measurements
from only one IMU. The second algorithm uses data from both foot-mounted IMUs
simultaneously. Both algorithms are based on the Kalman filter and the
assumption that while a foot is on the ground its velocity is supposed to be
zero. Two methods for comparing the obtained trajectories are proposed,
advantages and disadvantages of each method are indicated and a way to optimize
the computation time is presented. In addition, a method is proposed for
constructing one generalized trajectory of human motion based on the
trajectories of each leg.
