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Sensors 2010, 10(10), 9163-9178; doi:10.3390/s101009163

A Zero Velocity Detection Algorithm Using Inertial Sensors for Pedestrian Navigation Systems

Department of Electrical Engineering, University of Ulsan, Namgu, Ulsan 680-749, Korea
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Received: 20 August 2010 / Revised: 20 September 2010 / Accepted: 28 September 2010 / Published: 13 October 2010
(This article belongs to the Section Chemical Sensors)
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Abstract

In pedestrian navigation systems, the position of a pedestrian is computed using an inertial navigation algorithm. In the algorithm, the zero velocity updating plays an important role, where zero velocity intervals are detected and the velocity error is reset. To use the zero velocity updating, it is necessary to detect zero velocity intervals reliably. A new zero detection algorithm is proposed in the paper, where only one gyroscope value is used. A Markov model is constructed using segmentation of gyroscope outputs instead of using gyroscope outputs directly, which makes the zero velocity detection more reliable. View Full-Text
Keywords: hidden Markov model; pedestrian navigation system; zero velocity update method; Kalman filter hidden Markov model; pedestrian navigation system; zero velocity update method; Kalman filter
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This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

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MDPI and ACS Style

Park, S.K.; Suh, Y.S. A Zero Velocity Detection Algorithm Using Inertial Sensors for Pedestrian Navigation Systems. Sensors 2010, 10, 9163-9178.

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