Abstract
Zero velocity update (ZUPT) is an inexpensive and effective method for error control of inertial navigation system (INS). Detecting the stopping time interval is important for ZUPT methods. The ZUPT method based on Kalman filter has a higher degree of precision compared with the ZUPT method based on curve fitting and the ZUPT method based on maximum likelihood estimation, but the modeling of Kalman filter is critical for the performance of INS. In this paper, three kinds of zero-velocity detectors and a linear discrete Kalman filter model are applied in ZUPT for INS. Simulation results show that the three kinds of zero-velocity detectors are effective, and the ZUPT method based on the linear discrete Kalman filter model makes the positioning accuracy of INS significantly improved.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
