Adaptive Threshold for Zero-Velocity Detector in ZUPT-Aided Pedestrian Inertial Navigation
ieee sensors(2019)
摘要
We present a study on the adaptive threshold of the zero-velocity detector, which enables the detector to adjust to gait patterns with different speeds, from as low as walking with 80 steps per minute to as high as running with 160 steps per minute, without any tuning of design parameters during the navigation. This approach enables the zero-velocity update (ZUPT)-aided navigation algorithm to wor...
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关键词
Detectors,Legged locomotion,Electric shock,Inertial navigation,Cost function,Foot
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