A new zero velocity update algorithm for the shoe-mounted personal navigation system based on IMU
作者： Zhang Xiao-dong , Ren Ming-rong , Wang Pu , Pan Kai
DOI: 10.1109/CHICC.2015.7260466
关键词:
摘要: In this article, a new ZUPT (zero velocity update) algorithm for the shoe-mounted PNS (personal navigation system) based on low-precision IMU (inertial measurement unit) has been studied. Based cascade framework of Kalman filtering and particle filtering, observability analysis state variables in bottom layer is conducted, error course angle position with bad traditional thus removed; For upper filter, length each step change heading have taken as observation, while coordinates horizontal variables, to build dead-reckoning motion model that integrates indoor map information. The mutual modification between designed. Finally, effectiveness reliability verified by using walking data IMU.
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