Abstract:This paper studies a pedestrian navigation algorithm based on zero velocity update(ZUPT) aided MIMU. Considering the problem of the increasing error of MIMU over time,according to the assumption that the pedestrian’s velocity can maintain zero in a short time in every foot stance phase,the virtual noise observations are constructed to estimate system error. Noting that the zero-velocity detector is the key technology in ZUPT,we compare four detectors and evaluate their efficiency and accuracy.The four detectors are the acceleration moving variance detector, the acceleration detector, the angular rate detector, and a combined detector.The experimental results show that under the circumstance that the distance is short and step is slow,the four detectors can all reach high accuracy. However, the combined detector give the highest performance.
TANG Wenjie,Lu Zhiwei,ZHANG Lundong et al. Research of Pedestrian Navigation Algorithm Based on Zero Velocity Update Aided MIMU[J]. jgg, 2016, 36(6): 548-.