Application of Improved ZUPT in Pedestrian Self-Navigation

Authors

Tiansheng Wang, Beijing Information Science and Technology University Beijing Key Laboratory of High Dynamic Navigation Technology, Beijing 100192, China;
Li Qing, Beijing Information Science and Technology University Beijing Key Laboratory of High Dynamic Navigation Technology, Beijing 100192, China;

Abstract

Abstract: In view that the currently traditional Zero Velocity Update (ZUPT) can theoretically correct the cumulative error, while the state error variable of 3-dimensional velocity, position and attitude is measured by the model which is established by the observations of 3D velocity error with poor stability and low precision results, an 18-dimensional zero-velocity update algorithm is proposed. The algorithm uses state information of adjacent time to calculate state observations that cannot be directly observed in the zero-velocity state, and then uses the Kalman filter to optimally estimate all state errors. To verify the accuracy of the improved ZUPT, the experiments were carried out by using a self-developed IMU. The results show that the improved algorithm has better stability than the traditional ZUPT and the navigation accuracy is improved by 1.7%.

Recommended Citation

Wang, Tiansheng and Qing, Li (2019) "Application of Improved ZUPT in Pedestrian Self-Navigation," Journal of System Simulation: Vol. 30: Iss. 11, Article 37.
DOI: 10.16182/j.issn1004731x.joss.201811037
Available at: https://dc-china-simulation.researchcommons.org/journal/vol30/iss11/37

First Page

4359

Revised Date

2018-06-21

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.201811037

Last Page

4366

CLC

TP391.9

Recommended Citation

Wang Tiansheng, Li Qing. Application of Improved ZUPT in Pedestrian Self-Navigation[J]. Journal of System Simulation, 2018, 30(11): 4359-4366.

DOI

10.16182/j.issn1004731x.joss.201811037