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The traditional Zero Velocity Updating Algorithm is being used to correct the accumulated errors of the device effectively. However, as the threshold value of the traditional Zero Velocity Updating algorithm is fixed, it is only suitable for a single motion mode. When indoor pedestrian motion includes multiple motion modes, the positioning accuracy will be greatly reduced. In this paper, we propose an adaptive Zero Velocity Updating method for multi-motion mode using half- voting Random Forest.doi:10.35940/ijrte.c6021.098319 fatcat:a47bnmuajbbdrn45g5nnzmjfo4