Indoor localization using inertial sensors and ultrasonic rangefinder

This paper presents a simple, novel inertial sensor based indoor localization system which utilizes distance information between the top of the foot and the ground measured from ultrasonic rangefinder to detect the still-phase of the Zero Velocity Update (ZUPT) method. In this way, the computational consumption of the gyro-based ZUPT detection is avoided and one inertial sensor module is enough to extend the useful range of ZUPT method (both low- and high-speed human movements), thus the complexity of the system can be efficiently reduced.