1 research outputs found
Fifteen Years of Progress at Zero Velocity: A Review
Fifteen years have passed since the publication of Foxlin's seminal paper
"Pedestrian tracking with shoe-mounted inertial sensors". In addition to
popularizing the zero-velocity update, Foxlin also hinted that the optimal
parameter tuning of the zero-velocity detector is dependent on, for example,
the user's gait speed. As demonstrated by the recent influx of related studies,
the question of how to properly design a robust zero-velocity detector is still
an open research question. In this review, we first recount the history of
foot-mounted inertial navigation and characterize the main sources of error,
thereby motivating the need for a robust solution. Following this, we
systematically analyze current approaches to robust zero-velocity detection,
while categorizing public code and data. The article concludes with a
discussion on commercialization along with guidance for future research