Performance characterisation of foot-mounted ZUPT-aided INSs and other related systems

Foot-mounted zero-velocity-update (ZUPT) aided inertial navigation system (INS) is a conceptually well known with publications in the area typically focusing on improved methods for filtering and addition of sensors and heuristics. Despite this, the performance characteristics, which would ultimately justify and give guidelines for such system modifications of ZUPT-aided INSs and other related systems, are in some aspects poorly documented. Unfortunately, the systems are non-linear, meaning that the performance is dependent on the system set-up, parameter setting, and the true trajectory. This complicates the process of evaluating performance and partially explains the few publications with detailed performance characterisation results. Therefore in this article we suggest and motivate methodologies for evaluating performance of ZUPT-aided INS and other related systems, we apply them to a suggested baseline set-up of the system, and study some aspects of the performance characteristics.