Compensation of Systematic Errors in ZUPT-Aided Pedestrian Inertial Navigation

We present a method to identify and compensate systematic errors in the ZUPT-aided pedestrian inertial navigation. We considered two main categories of systematic errors resulting in an underestimate of the length of the trajectory and a drift in the heading of the trajectory. In this study, we identified the dominant factors resulting in the trajectory length and heading errors to be residual velocity during the stance phase and g-sensitivity error of the gyroscopes, respectively. Magnetic motion tracking system was used to record the velocity of the foot during the stance phase. Rate table, tilt table, and shaker were used to calibrate the IMU g-sensitivity. After compensation, a more than $6\times$ systematic error reduction was demonstrated from 3.24m to 0.50m during a 100m straight line trajectory. To the best of our knowledge, this study is the first attempt to reduce the systematic errors in the ZUPT-aided pedestrian inertial navigation algorithmically, without adding extra sensing modalities.