Fifteen Years of Progress at Zero Velocity: A Review

Linköpings universitet, Reglerteknik Linköpings universitet, Tekniska fakulteten Univ Exeter, England IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC 2021

Fifteen years have passed since the publication of Foxlins seminal paper "Pedestrian tracking with shoe-mounted inertial sensors". In addition to popularizing the zero-velocity update, Foxlin also hinted that the optimal parameter tuning of the zero-velocity detector is dependent on, for example, the users gait speed. As demonstrated by the recent influx of related studies, the question of how to properly design a robust zero-velocity detector is still an open research question. In this review, we first recount the history of foot-mounted inertial navigation and characterize the main sources of error, thereby motivating the need for a robust solution. Following this, we systematically analyze current approaches to robust zero-velocity detection, while categorizing public code and data. The article concludes with a discussion on commercialization along with guidance for future research.

Inertial navigation; Detectors; Velocity measurement; Gyroscopes; State-space methods; Foot-mounted inertial navigation; adaptive zero-velocity detection; robust ZUPTs; inertial sensors; Signal Processing; Signalbehandling; Article, review/survey; info:eu-repo/semantics/article; text

10.1109.JSEN.2020.3018880

Open access content. Open access content
info:eu-repo/semantics/restrictedAccess

English

UPE oai:DiVA.org:liu-172594
doi:10.1109/JSEN.2020.3018880
ISI:000600900300027
1234777868

UPPSALA UNIV LIBR
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