Improved Zero-Velocity Detection Algorithm for Pedestrian Navigation Based on MIMU

The pedestrian navigation system based on MIMU relies mainly on the Zero-Velocity-Update (ZUPT) to eliminate the navigation error. Accurate zero-velocity detection is the prerequisite for ZUPT, and it plays a key role in improving navigation accuracy. Aiming at the difficulty of detecting the zero-velocity under pedestrians with high speed movement, a multi-condition comprehensive decision algorithm which is more suitable for fast gait is proposed. While processing the MIMU output raw data, we found that the gyroscope output has better performance in zero-velocity detection than the accelerometer output. This paper using this characteristic, the local standard deviation of the gyroscope output norm and the other three conditions are used as the basis for the detection of zero-velocity. To put it into practice, a zero-velocity detection experimentis carried out; the result shows that compared with the traditional zero-velocity detection method, the algorithm proposed in this paper can accurately detect the zero-velocity in jogging state and effectively reduce the missed detection rate of zero-velocity; this indicates that the novel algorithm has high detection precision and good robustness, which provides a basis for the study of the ZUPT algorithm for pedestrian navigation.