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Fifteen Years of Progress at Zero Velocity A Review

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Document pages: 13 pages

Abstract: Fifteen years have passed since the publication of Foxlin s seminal paper "Pedestrian tracking with shoe-mounted inertial sensors ". In addition topopularizing the zero-velocity update, Foxlin also hinted that the optimalparameter tuning of the zero-velocity detector is dependent on, for example,the user s gait speed. As demonstrated by the recent influx of related studies,the question of how to properly design a robust zero-velocity detector is stillan open research question. In this review, we first recount the history offoot-mounted inertial navigation and characterize the main sources of error,thereby motivating the need for a robust solution. Following this, wesystematically analyze current approaches to robust zero-velocity detection,while categorizing public code and data. The article concludes with adiscussion on commercialization along with guidance for future research.

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