A note on the limitations of ZUPTs and the implications on sensor error modeling
Year: 2012
Type: conference-paper
Abstract: The limitations of zero-velocity-updates (ZUPTs) for aiding a foot-mounted inertial navigation system (INS) are studied. Multiple significant modeling errors related to the ZUPTs are pointed out and quantified. Their implications for the possibility to estimate systematic inertial sensor errors are discussed and it is argued that modeling and estimating such errors, in foot-mounted ZUPT-aided INSs, should be avoided in many cases.
Authors: John-Olof Nilsson, Isaac Skog, Peter Händel
Institution: KTH Royal Institute of Technology
Language: English
Subfield: Aerospace Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W233447455