A Zupt-Based Method for Astronaut Navigation on Planetary Surface and Performance Evaluation under Different Locomotion Patterns
In this research, we develop a Zero Velocity Update (ZUPT) based method for astronaut navigation and evaluate its performance under different locomotion patterns.In this ZUPT based dead-reckoning, Circulation Complex the position drift of IMU is corrected using the constraint that the instantaneous velocity is zero when static state is automaticall