LSTM-Based Zero-Velocity Detection for Robust Inertial Navigation

13 Jul 2018Brandon WagstaffJonathan Kelly

We present a method to improve the accuracy of a zero-velocity-aided inertial navigation system (INS) by replacing the standard zero-velocity detector with a long short-term memory (LSTM) neural network. While existing threshold-based zero-velocity detectors are not robust to varying motion types, our learned model accurately detects stationary periods of the inertial measurement unit (IMU) despite changes in the motion of the user... (read more)

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