A Zero-Velocity Detection Algorithm Robust to Various Gait Types for Pedestrian Inertial Navigation

In this article, we develop a pedestrian inertial navigation (PIN) that uses an inertial measurement unit (IMU) mounted on a shoe to locate a pedestrian in an infrastructure-free environment. In the PIN, stand-alone navigation is possible by calculating the navigation solution using the inertial navigation system (INS) mechanism. For accurate navigation, however, it is necessary to compensate for accumulated errors over time. In a foot-mounted PIN, the error can be compensated through zero-velocity (ZV) correction method by detecting the moment the foot touches the ground. One important point here is to detect ZVs accurately. In most of the literature related to this, ZV detection techniques for normal gait have been proposed. In this article, we first propose a powerful ZV detection algorithm for various gait types. This algorithm consists of a new buffering method of the sensor output power, an exact ZV detection method through glitch removal, and a reinforcement method for ZV detection based on auxiliary step detection. Second, we design a PIN/ZV integration filter, and describe the real-time operation plan of all these functions. The performance of the PIN using the proposed algorithm is verified through experiments.