论文标题
零速度的15年进度：评论
Fifteen Years of Progress at Zero Velocity: A Review
论文作者
论文摘要
自从福克斯林（Foxlin）开创性的论文“带有鞋子安装的惯性传感器的行人跟踪”出版以来，已经过去了十五年。除了普及零速度更新外，福克斯林还暗示，零速度检测器的最佳参数调整取决于例如用户的步态速度。正如最近相关研究的涌入所表明的那样，如何正确设计健壮的零速度检测器的问题仍然是一个开放的研究问题。在这篇综述中，我们首先介绍了脚部安装的惯性导航的历史，并表征了主要错误来源，从而激发了需要强大的解决方案的需求。在此之后，我们系统地分析了当前的零速度检测方法，同时对公共代码和数据进行分类。本文以关于商业化的讨论以及未来研究的指导结束。
Fifteen years have passed since the publication of Foxlin's seminal paper "Pedestrian tracking with shoe-mounted inertial sensors". In addition to popularizing the zero-velocity update, Foxlin also hinted that the optimal parameter tuning of the zero-velocity detector is dependent on, for example, the user's gait speed. As demonstrated by the recent influx of related studies, the question of how to properly design a robust zero-velocity detector is still an open research question. In this review, we first recount the history of foot-mounted inertial navigation and characterize the main sources of error, thereby motivating the need for a robust solution. Following this, we systematically analyze current approaches to robust zero-velocity detection, while categorizing public code and data. The article concludes with a discussion on commercialization along with guidance for future research.
