KR101522466B1 - Apparatus for detecting the pedestrian foot zero velocity and Method thereof, and Inertial navigation system of pedestrian using same - Google Patents

Abstract

The apparatus and method for detecting the zero velocity state of a pedestrian's foot according to the present invention includes a sensor unit 110 having a three-axis gyro sensor 112 and a three-axis acceleration sensor 113 installed in a shoe of a pedestrian, 110) for determining whether or not to walk or not by using the motion index simultaneously applied to the acceleration and angular velocity values output from the acceleration sensor 110, 120). According to the present invention, since the zero-speed instant is detected by using the motion index that simultaneously considers the acceleration and the angular velocity, there is an effect of drastically reducing the position estimation error due to the minute motion caused by sensing the zero speed zone. According to the present invention, since the instantaneous velocity is detected by distinguishing each of the walking and the running, the present invention solves the problem of not detecting the zero velocity at the time of running and reduces the estimation error in both walking and running .

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a pedestrian inertial state detection apparatus and method, and a pedestrian inertial navigation system using the same,

The present invention relates to an apparatus and method for detecting the velocity of a pedestrian's foot, and a pedestrian inertial navigation system using the same. More particularly, the present invention relates to an apparatus and method for detecting a position of a pedestrian And a pedestrian inertial navigation system using the device.

The Inertial Navigation System (INS) measures the position and attitude of a moving object in a three-dimensional space using a three-axis gyro sensor and a three-axis acceleration sensor. The attitude is obtained by integrating the angular velocity measured by the gyro sensor And the position is obtained by calculating the double integral with respect to time by compensating the acceleration component by the attitude at the measured acceleration. In this inertial navigation system, the error component such as noise, deflection error, etc. is included in the output of the sensor for measuring the angular velocity and acceleration, and the error component becomes larger as a result of integration process. Particularly, And the error is proportional to the cube of time with respect to the measurement error of the gyro sensor, so that the error increases rapidly as the time passes.

Therefore, the position error is corrected through various error correction methods, among which Zero velocity correction (ZUPT) is widely used. The zero velocity correction is a method of estimating and correcting the position error by attaching the sensor to the foot and using the zero velocity of the foot as the reference measurement value at the moment of stopping the foot. In other words, since the foot speed is zero at the moment when the human foot stops at the ground during the walking, the speed error and the position error are compared by comparing the speed calculated with the inertial navigation system at this time and the position error, To prevent divergence. FIG. 1 is a diagram showing the concept of zero speed correction. As shown in FIG. 1, a fact that the vehicle is stationary is detected by a certain method, and the instantaneous speed at which the vehicle stops is reset to zero.

In this way, the zero velocity correction is made based on the angular velocity and the acceleration measured by the sensor attached to the foot or shoe, thereby determining the stopping moment of the foot, that is, the zero velocity of the foot.

FIG. 2 shows a conventional method of determining a zero velocity for zero velocity correction, which shows the magnitude of angular velocity and acceleration on the Y axis versus X axis time. As shown in the figure, a section where the foot or shoe is attached to the ground is set as a zero speed section, and the speed of the foot is determined as zero during the section to perform zero speed correction.

)가 설정된 각속도의 임계값(γ_ω)보다 작은 구간을 영속도 구간으로 판단하는 방법과, 측정된 가속도에서 중력 가속도를 뺀 백터값의 크기(

)가 설정된 각속도 임계값(γ_α)보다 작은 구간을 영속도 구간으로 판단하는 방법을 많이 쓰인다. Generally, the magnitude of angular velocity (

), The magnitude of the threshold value of the angular speed is set (Fig. To determine the persistence period for a small period than γ _ω) and, by subtracting the gravitational acceleration from the measured acceleration value vector (

) Is smaller than the set angular velocity threshold value gamma _alpha is used as the zero velocity range.

Zero speed correction is based on the assumption that the foot does not move when the foot floor is on the ground when walking, that is, when the entire sole is on the ground, the acceleration, angular velocity, And the velocity is zero when the velocity is zero. However, when the angular velocity and acceleration are measured, the angular velocity and the acceleration are not actually zero at the time of stopping the foot due to the noise component of the sensor. Therefore, the conventional zero velocity correction methods have a certain range of angular velocity and acceleration If there is, I can not but judge the perpetual speed.

However, as shown in FIG. 2, even when the zero-speed range is judged to be a section where foot or shoe is placed on the ground, since there exist minute rotational motions and linear motions, the existing zero- Estimating the velocity error and the position error causes the error of the position estimation to be increased. In addition, when the shoe bottom is soft, even though the shoe is in contact with the ground, the fine movement of the shoe is larger, so that the position estimation error is further increased.

On the other hand, the conventional methods for determining the persistence rate include a case where the pedestrian does not detect the zero velocity or judges the moving moment as the perpetual velocity. If the measured velocity is less than the specified threshold value using the measured angular velocity and acceleration of the shoe This is because the speed of the foot is determined. Even though the entire shoe bottom is attached to the ground, angular velocity and acceleration occur because the shoe bottom is mostly soft. In other words, this method can not determine the zero velocity of the foot, resulting in an increase in the position estimation error. In addition, when the threshold is set to a large value in order to determine the zero velocity, the position estimation error is made large by judging the state of motion of the foot in the zone judged to be the perpetual velocity when it is slow walking.

SUMMARY OF THE INVENTION The present invention has been conceived in view of the above points. First, in order to reduce a position estimation error due to a minute motion, it is determined that the time of the zero speed correction is not a section in which the foot stops, Second, it is an object of the present invention to provide a device for detecting the state of continuity of a pedestrian's foot and a method thereof, which discriminate pedestrian movements when walking and running, and judge the criteria for determining a zero velocity when walking and running.

According to an aspect of the present invention, there is provided an apparatus for detecting a state of zero speed of a pedestrian's foot, comprising: a sensor unit 110 having a three-axis gyro sensor 112 and a three-axis acceleration sensor 113 installed on a footwear of a pedestrian; And a motion index obtained by simultaneously applying the acceleration and angular velocity values output from the sensor unit 110 to determine whether to walk or not, and to distinguish whether the robot is walking or not, The zero speed includes the instantaneous detection unit 120.

The slowness / instantaneous detection unit 120 includes a step / skip determination unit 122 for determining that the maximum motion value in a certain period is smaller than the step threshold value, When the pedestrian is judged to be walking by the walking / leap judging unit 122, when the magnitude of the angular velocity and the magnitude of the acceleration at a certain point are smaller than the set threshold values, 124); And a jerk determination unit 122 for determining that the walking velocity is a moment when the motion index at a certain point is the closest to the minimum value of the motion index in a certain interval when the walking / 126).

The motion index is defined by the following equation.

는 어느 시점 t에서의 운동지수, Κω와 Κα는 계수,

는 어느 시점 t에서의 각속도 벡터값 크기,

는 어느 시점 t에서의 가속도에서 중력가속도를 뺀 백터값 크기를 나타낸다.here,

Is the kinematic exponent at a time t, κω and κα are the coefficients,

Is the magnitude of the angular velocity vector value at a certain point t,

Represents the magnitude of the vector value obtained by subtracting the gravitational acceleration from the acceleration at a certain point in time t.

The stepping / skipping determining unit 122 determines that walking is performed when the following equation is satisfied.

는 일정구간(

)에서의 운동지수의 최대값,

는 걸음 임계값을 나타낸다.here,

(

), The maximum value of the motion index,

Represents a step threshold value.

When it is determined that the walking / leap determining unit 122 is walking by the walking / speed determining unit 124, the walking permanent speed detecting unit 124 detects the zero speed at a moment when the following equation is satisfied.

Here _,? Is the angular velocity threshold value _{, and ?} Is the acceleration threshold value.

When the jump / jump determination unit 126 determines that the jump / jump determination unit 122 jumps, the jump / speed detection unit 126 detects the zero speed at a moment when the following equation is satisfied.

는 어느 시점 t에서의 운동지수,

는 일정구간(

)에서의 운동지수 최소값, γ_ε는 임계값을 나타낸다.here,

Is the motion index at time t,

(

), And γ _ε represents the threshold value.

According to another aspect of the present invention, there is provided an apparatus for detecting a zero velocity of a pedestrian's foot, comprising: a) measuring an acceleration and an angular velocity of a pedestrian's foot; b) determining whether to walk or jump using the measured motion index using the acceleration and angular velocity values at the same time; And c) detecting the respective zero velocities by dividing the time of walking and the time of jumping.

According to the present invention, since the zero-speed instant is detected by using the motion index that simultaneously considers the acceleration and the angular velocity, there is an effect that the position estimation error due to the minute motion generated by sensing the zero speed section can be drastically reduced . According to the present invention, since the instantaneous velocity is detected by distinguishing each of the walking and the running, the present invention solves the problem of not detecting the zero velocity at the time of running and reduces the estimation error in both walking and running .

1 is a view for explaining the concept of zero speed correction,
2 is a view for explaining a conventional method of determining a zero speed for zero speed correction,
3 is a block diagram of an apparatus for detecting the state of zero speed of a pedestrian's foot according to an embodiment of the present invention and a pedestrian inertial navigation system including the same,
4 is a view for explaining a method for determining a zero speed when a walking object is walked by a zero speed state detecting device of a pedestrian's foot according to an embodiment of the present invention;
5 is a view for explaining a method of determining a zero speed when running by a device for detecting a zero speed state of a pedestrian's foot according to an embodiment of the present invention,
FIG. 6 is a flowchart for explaining a method of detecting a zero speed state of a pedestrian's foot according to an embodiment of the present invention;
7 is a view illustrating a result of a position tracking test in an indoor space (Indoor) of an actual pedestrian in a pedestrian inertial navigation system using a device for detecting the state of speed of a pedestrian according to an embodiment of the present invention;
FIG. 8 is a view illustrating a result of a location tracking test in a building including stairs of an actual pedestrian in a pedestrian inertial navigation system using a device for detecting the state of speed of a pedestrian's foot according to an embodiment of the present invention;
FIG. 9 is a diagram illustrating a result of a location tracking test in an underground parking lot of an actual pedestrian in a pedestrian inertial navigation system using a device for detecting the state of speed of a pedestrian's foot according to an embodiment of the present invention.

These and other objects, features and other advantages of the present invention will become more apparent by describing in detail preferred embodiments of the present invention with reference to the accompanying drawings. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an apparatus and method for detecting a state of zero speed of a pedestrian's foot according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

Referring to FIG. 3, the apparatus 100 for detecting the zero velocity of the pedestrian's foot according to the embodiment of the present invention includes a sensor unit 110 and a zero velocity instantaneous detection unit 120. In addition, the pedestrian inertial navigation system 300 according to the embodiment of the present invention includes the pedestrian's zero speed state detection apparatus 100, a position / velocity calculation unit 310, a position / velocity error estimation unit 320, (330).

The sensor unit 110 is installed in the shoe of the pedestrian and measures three axes acceleration and angular velocity of the pedestrian so as to measure the angular velocity of the pedestrian in the X, Y and Z axes in the three-dimensional space, Axis acceleration sensor 113 for detecting the linear acceleration of the X-axis, the Y-axis, and the Z-axis of the pedestrian in the three-dimensional inertial space.

The instantaneous speed detection unit 120 determines whether or not the pedestrian is walking or jumping using the motion index obtained by simultaneously applying the acceleration and the angular velocity value output from the sensor unit 110, The zero velocity of the foot of the user. Specifically, the instantaneous speed detection unit 120 includes a pedometer / leap judging unit 122 for judging whether the pedestrian is walking or not, and a walking / leap judging unit 122 for judging whether the pedestrian is walking or not A yaw rate detection unit 124 for detecting a yaw rate instant, and a yaw rate detection unit 126 for detecting a yaw rate instant when the yaw rate is judged to be running by a foot / jump judgment unit 122 .

를 이용한다. The walking / leap judging unit 122 judges whether the pedestrian walks or jumps by using the motion index applied simultaneously with the acceleration and angular velocity values outputted from the sensor unit 110. Specifically, the walking /

.

는 어느 시점 t에서의 운동지수, Κω와 Κα는 계수,

는 어느 시점 t에서의 각속도 벡터값 크기,

는 어느 시점 t에서의 가속도에서 중력가속도를 뺀 백터값 크기를 나타낸 것이다. 여기서 계수 Κω와 Κα는 센서의 노이즈 성분과 측정범위를 고려하여 실험에 의해서 결정한다.here,

Is the kinematic exponent at a time t, κω and κα are the coefficients,

Is the magnitude of the angular velocity vector value at a certain point t,

Represents the magnitude of the vector value obtained by subtracting the gravitational acceleration from the acceleration at a certain point in time t. The coefficients Κω and Κα are determined experimentally by taking into account the noise components of the sensor and the measurement range.

The stomach motion index represents the sum of the vector magnitude of angular velocity and the vector magnitude of the acceleration minus the gravitational acceleration component multiplied by the coefficients, so that the motion of the minute foot is reflected in the determination of the perpetual velocity, Only the moment lets you judge the perpetual speed. That is, since the motion index simultaneously applies the acceleration and the angular velocity, the accuracy of the zero velocity correction is increased. The stomatal motion exponent equation is a formula obtained by measuring and testing various angular velocities and accelerations, and finding the smallest position error.

)에서 운동지수의 최대값(

)이 설정된 걸음 임계값(

)보다 작으면 걷는 것으로 판단한다. 즉, 하기 수학식 2를 만족할 경우 걷는 것으로 판단하고, 그 이외의 경우는 뛰는 것으로 판단하게 된다.The walking / leap judging unit 122 judges whether a predetermined period

), The maximum value of the motion index

) Is the set step threshold (

), It is judged to walk. That is, when it is determined that the following equation (2) is satisfied, it is determined that the user is walking; otherwise, the user is judged to be running.

)은 실험을 통하여 미리 설정될 수 있다. The step threshold value (

) Can be preset through experiments.

Specifically, when the magnitude of the angular velocity at a certain time t and the magnitude of the acceleration at the time t are smaller than a predetermined threshold value, If the value is smaller than the value, the perpetual speed is judged as an instant. That is, when the following expression (3) is satisfied, the speed / speed / speed / speed / speed / speed / speed / speed / speed /

)가 설정된 각속도의 임계값(γ_ω)보다 작고, 동시에 어느 시점(t)에서 측정된 가속도에서 중력 가속도를 뺀 백터값의 크기(

)가 설정된 가속도 임계값(γ_α)보다 작을 때를 영속도 순간으로 판단하게 된다. 이와 같이 각속도와 가속도의 크기를 동시에 고려하여 영속도 순간을 판단하게 되므로 영속도 순간의 측정 정확성을 높일 수 있게 된다. In this way, the step-and-hold velocity detection unit 124 determines the velocity at the same time considering the angular velocity and the magnitude of the acceleration, that is, the magnitude of the angular velocity at a certain time t

) The threshold value set angular velocity _(ω γ) smaller and, at the same time, the vector value obtained by subtracting the gravitational acceleration from the acceleration measured at any point in time (t) in size (

) Is smaller than the set acceleration threshold value gamma _alpha , it is determined as the zero velocity instant. Since the magnitude of the angular velocity and the magnitude of the acceleration are considered at the same time, it is possible to increase the accuracy of the measurement of the magnitude of the zero velocity.

FIG. 4 is a graph showing a method of determining a zero velocity when a walk is performed according to the present invention, wherein the magnitude of the angular velocity and the acceleration is plotted on the Y axis versus the X axis time. Referring to FIG. 2, in the conventional case, the persistence interval, which is a constant interval, is determined as the persistence rate. However, according to the present invention, the actual persistence rate is determined as the persistence rate as shown in FIG. For convenience of explanation in FIG. 4, it is assumed that the zero-speed instant is set to '10' on the Y axis (actually, a value close to '0' Moments were detected five times each.

 When the jump index detection unit 126 determines that the pedestrian is leaning, it detects the moment of persistence at the time of running. Specifically, when the movement index at a certain point is closest to the movement index minimum value at a certain interval, . When the following expression (4) is satisfied, the jump permanent velocity detecting unit 126 determines the zero velocity at the instant of time.

)에서 운동지수의 최소값(

)을 계산하고, 시간 t의 운동지수값(

)과 구간 최소 운동지수값(

)의 차이가 임계값(γ_ε)보다 작으면 영속도로 판단하게 된다. 여기서 임계값(γ_ε)은 실험을 통하여 결정하게 된다. 즉 뜀 영속도 검지부(126)는 영속도 검지를 위하여 일정구간에서의 운동지수 최소값을 계산하고, 어느 지점에서의 운동지수가 구간의 최소운동지수에 가까운 값을 때 영속도 순간으로 판단하게 되는 것이다. That is,

), The minimum value of the exercise index (

), And the motion index value at time t (

) And the interval minimum exercise index value

) Is small, the road is determined persistence than the threshold value _(ε γ) difference. Here, the threshold value _γε is determined through experiments. In other words, the jerk permanent velocity detector 126 calculates the minimum value of the motion index at a predetermined interval for detecting the zero velocity, and determines the zero velocity when the motion index at a certain point is close to the minimum motion index of the interval .

FIG. 5 is a graph showing a method of determining the velocity at the time of running according to the present invention, in which actual acceleration and angular velocity are measured and converted into a motion index. As shown in the figure, it can be seen that the value of the motion index is the minimum value at the actual zero speed point (instantaneous), which means that the method of detecting the zero speed is very accurate.

The yaw rate detection unit 124 and the jump yaw rate detection unit 126 respectively transmit an instantaneous velocity detection signal to the position / velocity error estimation unit 320 when detecting the zero velocity instant in each case.

The position / speed calculation unit 310 receives the angular velocity and the acceleration value from the sensor unit 110, calculates the position angle by integrating the angular velocity, coordinates the acceleration by the orientation angle, integrates the velocity, .

The position / velocity error estimating unit 320 estimates the velocity and the zero velocity calculated at the position / velocity calculating unit 310 at the zero velocity instant (point) when the zero velocity detecting unit 120 detects the zero velocity instant The velocity error is calculated and the position error is estimated.

The error corrector 330 corrects the velocity / position error calculated by the position / velocity calculator 310 using the velocity / position error estimated by the position / velocity error estimator 320.

The functions of the position / velocity calculator 310, the position / velocity error estimator 320, and the error corrector 330, the velocity / position calculations, and the error estimation methods can be used in the known arts used in the existing pedestrian inertial navigation system The detailed description thereof will be omitted.

6 shows a method of detecting the zero speed state of a pedestrian's foot using a device for detecting the state of speed of the pedestrian's foot. As shown in the figure, the method for detecting the zero velocity state of a pedestrian's foot according to an embodiment of the present invention includes the steps of: a) measuring the acceleration and the angular velocity of the pedestrian's foot; b) using the measured acceleration and angular velocity, Determining whether or not to walk or jump, and c) detecting the respective zero velocities by dividing the walking and jumping cases.

First, the sensor unit 110 measures acceleration and angular velocity of the pedestrian's foot (S210).

The continuous velocity detecting unit 120 determines whether to walk or not to jump using the measured motion index and the angular velocity value simultaneously (S220). If the motion index maximum value in a certain interval is smaller than the step threshold Since we have specifically examined the judgment of walking, detailed description thereof will be omitted.

Then, when the pedestrian walks and jumps, the respective persistent velocities are determined (S220, S230). If it is determined that the walking is performed, the magnitude of the angular velocity and the magnitude of the acceleration at any time are set to respective set threshold values The determination of the perpetual velocity as an instant is made when the motion index at a certain point is the closest to the minimum value of the motion index at a certain interval as it is judged to be an instant. A description thereof will be omitted.

The zero speed detection unit 120 generates a zero speed signal when the zero speed is detected at the moment of each of the walking and skating (S250).

As described above, according to the present invention, by using the motion index that considers the acceleration and the angular velocity at the same time, the walking and the skating are distinguished from each other, and the respective zero speeds are detected. Therefore, The present invention has the effect of solving the problem that the positioning error caused by the position error can be significantly reduced and the zero speed at the time of running can not be detected.

FIGS. 7 to 9 are views showing the results of actual position tracking tests of various pedestrians in a pedestrian inertial navigation system using an apparatus and method for detecting the state of the standing velocity of a pedestrian according to an embodiment of the present invention.

FIG. 7 is a view showing a result of a position tracking test when a pedestrian is fast in an indoor space (Indoor). The moving time is 183.5 seconds and the moving distance is 222.8m. The position error is about 15cm (0.1492m) when measuring the last position when the actual pedestrian stopped.

8 is a view showing a result of a location tracking test when a pedestrian walked a little slowly in a building including a stair (Office Building including stairs). The moving time is 123.1 seconds and the moving distance is 118.6m. When the actual position of the pedestrian stopped, the position error is about 79cm (0.7914m).

9 is a view showing a result of a position tracking test when a pedestrian jumps after walking in an underground parking lot. The moving time is 129.3 seconds and the moving distance is 187.5m. The position error when measuring the last position when the actual pedestrian stopped is about 47cm (0.4756m).

As described above, according to the present invention, an actual position estimation test results in a significantly reduced position error.

Although the preferred embodiments of the present invention have been described, the present invention is not limited to the specific embodiments described above. It will be apparent to those skilled in the art that numerous modifications and variations can be made in the present invention without departing from the spirit or scope of the appended claims. And equivalents should also be considered to be within the scope of the present invention.

100. A device for detecting the zero speed state of a pedestrian's foot 110. [
120. Instantaneous velocity detection unit 122. Step /
124. Step velocity detection unit 126. Jump detection velocity detection unit
300. Pedestrian inertial navigation system 310. Position / speed calculation unit
320. Position / velocity error estimation unit 330. Error correction unit

Claims (12)

A sensor unit 110 having a three-axis gyro sensor 112 and a three-axis acceleration sensor 113 installed on a footwear of a pedestrian; And
The control unit 120 determines whether to walk or not by using the motion index that simultaneously applies the acceleration and the angular velocity value output from the sensor unit 110, and determines whether or not to walk and when to jump, And an instantaneous detection unit 120,
The zero-speed instantaneous detection unit 120,
A stepping / skipping determining unit (122) for determining that walking is performed when the motion index maximum value in the predetermined section is smaller than the step threshold value;
When the pedestrian is judged to be walking by the walking / leap judging unit 122, when the magnitude of the angular velocity and the magnitude of the acceleration at a certain point are smaller than the set threshold values, 124); And
When the walking / leap judging unit 122 judges that the pedestrian is running, the leaping velocity detecting unit 126 judges that the motion index is the closest to the minimum value of the motion index at a certain time, Wherein the pedestrian's foot speed is detected by the pedestrian detection device.
delete The method according to claim 1,
Wherein the motion index is defined by the following equation.

here,

Is the kinematic exponent at a time t, κω and κα are the coefficients,

Is the magnitude of the angular velocity vector value at a certain point t,

Is the magnitude of the vector value obtained by subtracting the gravitational acceleration from the acceleration at a certain time t.
4. The method of claim 3, wherein the stepping / skipping determining unit (122)
And judging that walking when the following expression is satisfied.

here,

(

), The maximum value of the motion index,

Is the step threshold.
4. The apparatus as claimed in claim 3,
When the walking / leap judging unit (122) judges that walking is to be performed, the zero speed is detected instantaneously when the following equation is satisfied.

Here _,? Is the angular velocity threshold value _{, and ?} Is the acceleration threshold value.
4. The apparatus according to claim 3, wherein the jump permanent-velocity detecting unit (126)
When the step / jump judging unit (122) judges that it is jumping, the zero speed is detected at the moment when the following equation is satisfied.

here,

Is the motion index at time t,

(

), And γ _ε is the threshold value.
a) measuring an acceleration and an angular velocity of a pedestrian's foot;
b) determining whether to walk or jump using the measured motion index using the acceleration and angular velocity values at the same time; And
c) detecting the respective zero velocities by dividing the walking time and the jumping time,
In the step b), if it is determined that the maximum exercise index in a certain interval is less than the threshold,
In the step c), when the pedestrian is judged to be walking, when the magnitude of the angular velocity at a certain point and the magnitude of the acceleration are smaller than the set threshold value, the perpetual velocity is determined as an instant. When the motion index of the pedestrian's foot is the closest to the minimum value of the motion index in a certain section, the perpetual velocity is determined as the moment.
8. The method of claim 7,
Wherein the motion index is defined by the following equation.

here,

Is the kinematic exponent at a time t, κω and κα are the coefficients,

Is the magnitude of the angular velocity vector value at a certain point t,

Is the magnitude of the vector value obtained by subtracting the gravitational acceleration from the acceleration at a certain time t.
9. The method of claim 8, wherein step b)
And judging that walking when the following expression is satisfied.

here,

(

), The maximum value of the motion index,

Is the step threshold.
9. The method of claim 8, wherein step c)
And when the pedestrian's foot is judged to be walking, the perpetual velocity is detected instantaneously when the following expression is satisfied.

Here _,? Is the angular velocity threshold value _{, and ?} Is the acceleration threshold value.
9. The method of claim 8, wherein step c)
And when it is judged that the vehicle is leaning, the zero speed is detected instantaneously when the following equation is satisfied.

here,

Is the motion index at time t,

(

), And γ _ε is the threshold value.
A pedestrian inertial navigation system comprising a device for detecting the state of zero speed of a pedestrian foot according to any one of claims 1 to 6.

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