A Review on ZUPT-Aided Pedestrian Inertial Navigation

We present a review of studies that were conducted by the MicroSystems Laboratory at UC Irvine on ZUPT-aided pedestrian inertial navigation. Our most recent results include: adaptive ZUPT detection, IMU mounting position optimization, residual velocity characterization, IMU error calibration, and navigation error prediction. With all the efforts above, a robust and accurate ZUPT-aided pedestrian inertial navigation implementation was demonstrated. The navigation bias was reduced by 10×, and a position error of less than 1% of the total length of trajectory was demonstrated with an industrial-grade IMU.