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.
