Study on Estimation Errors in ZUPT-Aided Pedestrian Inertial Navigation Due to IMU Noises

We present a study on the effects of the inertial measurement unit (IMU) noises on the navigation solution uncertainty during zero-velocity-update (ZUPT)-aided pedestrian inertial navigation. The analytically derived attitude, velocity, and position propagation errors reveal that among many IMU noise terms, the dominant factor affecting the accuracy of ZUPT-aided pedestrian navigation is rate random walk of gyroscopes. A numerical simulation has been conducted, showing the discrepancy of less than 10% between the numerical and analytical results, supporting fidelity of the analytical estimates. Experiments have also been conducted, and the results were on the same level of analytical and numerical predictions. This article offers a closed-form analytical prediction for the errors of ZUPT-aided pedestrian inertial navigation due to IMU noises.