On Four-Condition Zero-Speed Detection Algorithm for Inertial Pedestrian Navigation

Abstract

According to the foot-mounted inertial pedestrian navigation system, a four-condition zero-speed detection algorithm is designed. When the four data of acceleration modulus value, angular velocity modulus value, local standard deviation of acceleration modulus value and local standard deviation of angular velocity modulus value of the sampling point meet the corresponding conditions at the same time, it is determined that the sampling point is zero-speed point. Under three different walking speeds, comparative experiments are carried out with the two-condition zero-speed detection algorithm and the three-condition zero-speed detection algorithm respectively, and the zero-speed interval average single-step error detection rate index is proposed to compare the zero-speed detection accuracy of the three algorithms. The experimental results show that the four-condition zero-speed detection algorithm has the lowest false detection rate, the highest accuracy of zero-speed detection and the best adaptability to pace changes and has better application value.