Learning of Zero-Velocity Detection for Inertial Pedestrian Navigation

Abstract

The detection of zero-velocity states is the vital prerequisite for zero-velocity update in the foot-mounted inertial pedestrian navigation system. The previous zero-velocity detector determines zero-velocity states by comparing measured inertial data with a calibrated threshold. The calibration of the threshold is inconvenient for this kind of the zero-velocity detector because the threshold is variable corresponding to different people and locomotion. The best threshold needs to be tuned corresponding to different situations. In essence, the detection of zero-velocity states is a binary classification problem. As the success of deep learning in in image classification and speech recognition, it is possible to design an adaptive zero-velocity detector based on it. A Siamese network is designed to learn the metric of distinguish zero-velocity states. This method can adaptively get the most likely correct results without threshold tuning. Experiments are conducted and results show that the matching degree is about 96.31% and the navigation accuracy can reach within 4m in 20min.