Zero‐Velocity Update Aided Pedestrian Inertial Navigation

This chapter focuses on the self-contained aiding techniques for pedestrian inertial navigation, which can limit the navigation error propagation of the strapdown inertial navigation while keeping the whole system independent of the environment. One of the most commonly used aiding techniques in the pedestrian inertial navigation is the Zero-Velocity Update (ZUPT) aiding. One of the main advantages of ZUPT is its ability to obtain pseudo-measurement of the velocity, which is otherwise unobservable by inertial measurement units (IMUs). There are two key parts involved in the ZUPT-aided navigation algorithm: the stance phase detector and the pseudo-measurement of the motion of the foot. In the pedestrian inertial navigation, the Extended Kalman Filter is commonly used to fuse the IMU readouts with other aiding techniques to obtain a more accurate navigation result. The chapter introduces the concept, algorithmic implementation, and parameter selection of the ZUPT-aided pedestrian inertial navigation.