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A Robust GNSS/PDR Integration Scheme with GRU-Based Zero-Velocity Detection for Mass-Pedestrians
2022
Remote Sensing
Aiming at the problem of high-precision positioning of mass-pedestrians with low-cost sensors, a robust single-antenna Global Navigation Satellite System (GNSS)/Pedestrian Dead Reckoning (PDR) integration scheme is proposed with Gate Recurrent Unit (GRU)-based zero-velocity detector. Based on the foot-mounted pedestrian navigation system, the error state extended Kalman filter (EKF) framework is used to fuse GNSS position, zero-velocity state, barometer elevation, and other information. The
doi:10.3390/rs14020300
fatcat:moec6fndcjccloekcqhym3uuxq