Adaptive Zero Velocity Update Based on Velocity Classification for Pedestrian Tracking

@article{Zhang2017AdaptiveZV,
  title={Adaptive Zero Velocity Update Based on Velocity Classification for Pedestrian Tracking},
  author={Rui Zhang and Hai Yang and Fabian Hx00F6flinger and Leonhard M. Reindl},
  journal={IEEE Sensors Journal},
  year={2017},
  volume={17},
  pages={2137-2145}
}
Due to the drift of low-cost micro-electro-mechanical systems sensors and recursive computation, pedestrian tracking based on foot-mounted inertial sensors suffers from accumulative velocity and position errors. The well-known approach named zero velocity update (ZUPT) is able to minimize such errors by resetting the velocity to zero when the foot does not move with respect to ground. This time duration is called the still phase of a stride and can be detected by comparing the actual sensor… CONTINUE READING