Zero velocity detection for inertial sensor-based personal navigation systems

A personal navigation algorithm using inertial sensors computes the position by double integrating acceleration. In the algorithm, the zero velocity updating plays an important role. To use the zero velocity updating, it is necessary to detect zero velocity intervals reliably. A new zero detection algorithm is proposed in the paper, where one gyroscope value is used. A Markov model is constructed using segmentation of gyroscope outputs instead of using gyroscope outputs directly, which makes the zero velocity detection more reliable.