Navigation Error Reduction in the ZUPT‐Aided Pedestrian Inertial Navigation

Abstract

Many error sources contribute to the overall navigation error in the Zero‐Velocity Update (ZUPT)‐aided pedestrian inertial navigation. They can generally be categorized into two groups: errors caused by the inertial measurement unit (IMU) and errors caused by the navigation algorithm. This chapter discusses a few methods that can be implemented in the ZUPT‐aided pedestrian inertial navigation in order to reduce the navigation errors. The ZUPT‐aided pedestrian inertial navigation requires a foot‐mounted IMU to collect data. IMU data are first averaged to reduce the IMU noise and extract parameters, such as length of the stance phase and the shock level during walking. Trajectory orientation drift in the ZUPT‐aided pedestrian inertial navigation is believed to be related to the g‐sensitivity of gyroscopes. Gyroscope g‐sensitivity is the erroneous measurement of a gyroscope in response to the external acceleration.