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Fifteen Years of Progress at Zero Velocity: A Review
Univ Exeter, England.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.
2021 (English)In: IEEE Sensors Journal, ISSN 1530-437X, E-ISSN 1558-1748, Vol. 21, no 2, p. 1139-1151Article, review/survey (Refereed) Published
Abstract [en]

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.

Place, publisher, year, edition, pages
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC , 2021. Vol. 21, no 2, p. 1139-1151
Keywords [en]
Inertial navigation; Detectors; Velocity measurement; Gyroscopes; State-space methods; Foot-mounted inertial navigation; adaptive zero-velocity detection; robust ZUPTs; inertial sensors
National Category
Signal Processing
Identifiers
URN: urn:nbn:se:liu:diva-172594DOI: 10.1109/JSEN.2020.3018880ISI: 000600900300027OAI: oai:DiVA.org:liu-172594DiVA, id: diva2:1521667
Available from: 2021-01-24 Created: 2021-01-24 Last updated: 2021-01-24

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