A note on the limitations of ZUPTs and the implications on sensor error modeling
2012 (English)In: Proceeding of 2012 International Conference on Indoor Positioning and Indoor Navigation (IPIN), 13-15th November 2012, 2012Conference paper (Refereed)
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
IdentifiersURN: urn:nbn:se:kth:diva-107409OAI: oai:DiVA.org:kth-107409DiVA: diva2:575831
2012 International Conference on Indoor Positioning and Indoor Navigation (IPIN),13-15th November 2012
QC 201301162013-01-162012-12-112013-01-16Bibliographically approved