APPARATUS FOR DETECTING THE PEDESTRIAN FOOT ZERO VELOCITY AND METHOD THEREOF, AND INERTIAL NAVIGATION SYSTEM OF PEDESTRIAN USING SAME

摘要

An apparatus for detecting a pedestrian foot zero velocity and a method thereof according to the disclosed present invention comprises: a sensor unit (110) equipped with a three-axis gyro sensor (112) and a three-axis acceleration sensor (114) provided in the shoes of pedestrians; a zero-velocity-moment detector (120) to detect the moment of the zero velocity of each foot by determining whether it is walking or jumping and distinguishing walking from jumping by using an exercise index including an acceleration velocity value and an angular velocity value outputted from the sensor unit (110). According to the present invention, the moment of the zero velocity is detected by using exercise index considering the acceleration velocity and the angular velocity at the same time so that it has the effect of dramatically reducing the position estimation error caused by slight movements caused by detecting the zero velocity area previously.