Current work on smoothing for ZUPT-aided INS

Among other things, dur­ing the spring and sum­mer we have been work­ing on smooth­ing for ZUPT-aided INS. This we believe is use­full for motion analy­sis type of appli­ca­tions. Hope­fully, we will have an arti­cle on the sub­ject in the near future but in the mean­while we have made the code avail­able under the smooth­ing page.

The code and the data can now be found under the Pub­li­ca­tion section.

Below is an exam­ple of the type of data the code can pro­duce. In the plot you see a num­ber of tracked steps plot­ted beside eachother. The red curves are the smoothed steps and the blue curves are the steps as esti­mated by the cus­tom­ary com­ple­men­tary Kalman fil­ter. The sharp cor­rec­tions seen in the end of each step from the cus­tom­ary recur­sive fil­ter­ing is removed by the smoothing.

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