@inproceedings{fda0479cae6148259284cecd5b45bb21,
title = "A robust humanoid robot navigation algorithm with ZUPT",
abstract = "This paper discusses algorithmic concepts, design and testing of a pedestrian dead reckoning (PDR) navigation system based on a low-cost inertial measurement unit (IMU) attached to a user's shoe. The algorithm uses the technique known as {"}Zero Velocity Update{"} (ZUPT) and Kalman Filter consists of 24 error states to reduce IMU errors. We propose a novel dynamic and more robust algorithm to detect the stance phases during walking. The system works well in both 2D (2-dimensional) and 3D environments. Test results show that its horizontal positioning errors are always below 0.3% of the total travelled distance, and the vertical errors are below 0.7%, even on 3D terrain. These results reach the highest position accuracy in available literature.",
keywords = "Pedestrian navigation, ZUPT, EKF",
author = "Yan Li and Xiang Luo and Ren, {Xiang Thomas} and Wang, {Jianguo Jack}",
year = "2012",
doi = "10.1109/ICMA.2012.6283159",
language = "English",
isbn = "9781467312752",
publisher = "Institute of Electrical and Electronics Engineers (IEEE)",
pages = "505--510",
booktitle = "2012 IEEE International Conference on Mechatronics and Automation",
address = "United States",
note = "2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012 ; Conference date: 05-08-2012 Through 08-08-2012",
}