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A note on the limitations of ZUPTs and the implications on sensor error modeling
KTH, School of Electrical Engineering (EES), Signal Processing. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
KTH, School of Electrical Engineering (EES), Signal Processing. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0002-3054-6413
KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. KTH, School of Electrical Engineering (EES), Signal Processing.ORCID iD: 0000-0002-2718-0262
2012 (English)In: Proceeding of 2012 International Conference on Indoor Positioning and Indoor Navigation (IPIN), 13-15th November 2012, 2012Conference paper, Published paper (Refereed)
Abstract [en]

The limitations of zero-velocity-updates (ZUPTs) for aiding a foot-mounted inertial navigation system (INS) are studied. Multiple significant modeling errors related to the ZUPTs are pointed out and quantified. Their implications for the possibility to estimate systematic inertial sensor errors are discussed and it is argued that modeling and estimating such errors, in foot-mounted ZUPT-aided INSs, should be avoided in many cases.

Place, publisher, year, edition, pages
2012.
National Category
Signal Processing
Identifiers
URN: urn:nbn:se:kth:diva-107409OAI: oai:DiVA.org:kth-107409DiVA: diva2:575831
Conference
2012 International Conference on Indoor Positioning and Indoor Navigation (IPIN),13-15th November 2012
Note

QC 20130116

Available from: 2013-01-16 Created: 2012-12-11 Last updated: 2013-01-16Bibliographically approved

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limits_of_zupts(241 kB)435 downloads
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Type fulltextMimetype application/pdf

Authority records BETA

Skog, IsaacHändel, Peter

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CiteExportLink to record
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