Understanding the performance of zero velocity updates in MEMS-based pedestrian navigation
Zero Velocity Update (ZUPT) is an important update to aid an autonomous inertial pedestrian navigation. The objectives of this paper are to briefly revisit the concept of ZUPT and its importance, testing it on real walking pedestrian and comparing its performance when used with either conventional ‘...
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| Format: | Article |
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OMICS International
2014
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| Online Access: | https://eprints.nottingham.ac.uk/33291/ |
| _version_ | 1848794600254210048 |
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| author | Abdulrahim, Khairi Moore, Terry Hide, Christopher Hill, Chris |
| author_facet | Abdulrahim, Khairi Moore, Terry Hide, Christopher Hill, Chris |
| author_sort | Abdulrahim, Khairi |
| building | Nottingham Research Data Repository |
| collection | Online Access |
| description | Zero Velocity Update (ZUPT) is an important update to aid an autonomous inertial pedestrian navigation. The objectives of this paper are to briefly revisit the concept of ZUPT and its importance, testing it on real walking pedestrian and comparing its performance when used with either conventional ‘Dead Reckoning approach (DR)’ or with ‘Kalman Filter approach (KF)’ as either one of these approaches is commonly used in literature. Performances were analyzed further with the inclusion of two correction modes (Linearly Weighted Interpolation and Residual Velocity). Experiments were performed using a low cost Inerital Measurement Unit (IMU) from MicroStrain (3DM-GX1). It was shown that the KF approach outperformed DRonly approach, but comparable performance with KF was noticed when DR is combined with correction mode. Finally, a combination of RV correction mode with forward KF solution was shown to improve the position output. |
| first_indexed | 2025-11-14T19:18:46Z |
| format | Article |
| id | nottingham-33291 |
| institution | University of Nottingham Malaysia Campus |
| institution_category | Local University |
| last_indexed | 2025-11-14T19:18:46Z |
| publishDate | 2014 |
| publisher | OMICS International |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | nottingham-332912020-05-04T20:14:59Z https://eprints.nottingham.ac.uk/33291/ Understanding the performance of zero velocity updates in MEMS-based pedestrian navigation Abdulrahim, Khairi Moore, Terry Hide, Christopher Hill, Chris Zero Velocity Update (ZUPT) is an important update to aid an autonomous inertial pedestrian navigation. The objectives of this paper are to briefly revisit the concept of ZUPT and its importance, testing it on real walking pedestrian and comparing its performance when used with either conventional ‘Dead Reckoning approach (DR)’ or with ‘Kalman Filter approach (KF)’ as either one of these approaches is commonly used in literature. Performances were analyzed further with the inclusion of two correction modes (Linearly Weighted Interpolation and Residual Velocity). Experiments were performed using a low cost Inerital Measurement Unit (IMU) from MicroStrain (3DM-GX1). It was shown that the KF approach outperformed DRonly approach, but comparable performance with KF was noticed when DR is combined with correction mode. Finally, a combination of RV correction mode with forward KF solution was shown to improve the position output. OMICS International 2014-03 Article PeerReviewed Abdulrahim, Khairi, Moore, Terry, Hide, Christopher and Hill, Chris (2014) Understanding the performance of zero velocity updates in MEMS-based pedestrian navigation. International Journal of Advancements in Technology, 5 (2). pp. 53-60. ISSN 0976-4860 ZUPT; kalman filter dead reckoning pedestrian navigation http://www.omicsonline.org/open-access/understanding-the-performance-of-zero-velocity-updates-in-memsbased-pedestrian-navigation-0976-4860-5-53-60.pdf.php?aid=35645 |
| spellingShingle | ZUPT; kalman filter dead reckoning pedestrian navigation Abdulrahim, Khairi Moore, Terry Hide, Christopher Hill, Chris Understanding the performance of zero velocity updates in MEMS-based pedestrian navigation |
| title | Understanding the performance of zero velocity updates in MEMS-based pedestrian navigation |
| title_full | Understanding the performance of zero velocity updates in MEMS-based pedestrian navigation |
| title_fullStr | Understanding the performance of zero velocity updates in MEMS-based pedestrian navigation |
| title_full_unstemmed | Understanding the performance of zero velocity updates in MEMS-based pedestrian navigation |
| title_short | Understanding the performance of zero velocity updates in MEMS-based pedestrian navigation |
| title_sort | understanding the performance of zero velocity updates in mems-based pedestrian navigation |
| topic | ZUPT; kalman filter dead reckoning pedestrian navigation |
| url | https://eprints.nottingham.ac.uk/33291/ https://eprints.nottingham.ac.uk/33291/ |