Adaptive gait zero speed detector based on mapping iteration

In order to improve the accuracy of zero speed detection in inertial navigation, an adaptive zero speed detection algorithm was proposed by combining finite state machine and mapping iteration method, and the gait period was determined. This algorithm comprehensively considers the period of pedestrian motion in inertial navigation, effectively expanding the statistical characteristics and data distribution characteristics of zero speed interval data, fully reflecting the adaptability of hierarchical iterative search in the search space for zero speed interval search. The simulation results have verified the adaptability and correctness of the detection algorithm, which can be used for gait detection and zero speed detection in inertial navigation.