A note on the limitations of ZUPTs and the implications on sensor error modeling

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.