Journal
IEEE SENSORS JOURNAL
Volume 21, Issue 2, Pages 1139-1151Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/JSEN.2020.3018880
Keywords
Inertial navigation; Detectors; Velocity measurement; Gyroscopes; State-space methods; Foot-mounted inertial navigation; adaptive zero-velocity detection; robust ZUPTs; inertial sensors
Ask authors/readers for more resources
The study reviews the history of foot-mounted inertial navigation and discusses key issues in designing zero-velocity detectors, providing insights for future research directions.
Fifteen years have passed since the publication of Foxlin's 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 user's 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.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available