Enhancing DF-INS for Accurate Zero-velocity Detection in ILBS: A Dual Foot Synergistic Method

Research output: Chapter in Book/Conference proceedingConference contributionpeer-review


The Dual Foot Inertial Navigation System (DF-INS) shows promise as a practical approach for indoor location-based service (ILBS). Achieving accurate zero-velocity detection is crucial for optimal performance in zero-velocity updating and trajectory calculation. However, conventional techniques rely on fixed thresholds to identify the zero-velocity (stance) phase, which is not suitable for dynamic scenarios and diverse users. This study introduces a dual foot synergistic method to address this issue. Initially, the General Likelihood Ratio Test sequences from both feet are smoothed using a moving average filter. The points of equality within these sequences are then identified as transition points between the stance phase and the swing phase. The experiment was conducted along a closed indoor path, and the results demonstrate that the proposed method outperforms other fixed thresholding methods in terms of zero-velocity detection and DF-INS calculation.
Original languageEnglish
Title of host publication2023 IEEE SENSORS
Place of PublicationVienna, Austria
ISBN (Electronic)9798350303872
ISBN (Print)9798350303889
Publication statusPublished - 28 Nov 2023


  • dual foot inertial navigation system
  • dual foot synergistic method
  • general likelihood ratio test
  • moving average filter
  • zero-velocity detection


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