Terrain-Based Parameter Optimization for Zero Velocity Update Inertial Navigation Solutions

This paper demonstrates the benefits of adapting Zero Velocity Update (ZVU) algorithms in foot-mounted pedestrian inertial navigation by finely tuning the algorithm to account for the type of terrain over which the pedestrian travels. Conventional ZVU algorithms for foot-mounted inertial navigation are designed for indoor use and do not account for differences from various terrains. Different terrains affect the natural pedestrian gait and how zero velocity intervals (ZVIs) are identified. By tuning the algorithm to account for accelerometer and gyroscope magnitude and walking cycle duration across four terrains (concrete, grass, pebbles and sand), the accuracy is improved up to 31.04%, dependent on the terrain, and is viable for outdoor use.