Contrastive Learning of Zero-Velocity Detection for Pedestrian Inertial Navigation

Robust and accurate zero-velocity detection can improve the performance of zero-velocity-aided foot-mounted inertial navigation system. To ensure the accuracy of zero-velocity detection, we propose a novel detector based on contrastive learning. This detector roughly eliminates the inertial data that must not be the zero-velocity event in advance, to reduce the computation cost. Then the detector ...