Location information of firefighters is essential information for the purpose of finding and rescuing requesters and for the safety of oneself. The work area of firefighters is indoors, and infrastructure-based wireless positioning is not possible as a method for positioning of the firefighters in a fired indoor environment. Therefore, it is recognized that the Pedestrian Dead Reckoning (PDR) using the sensors attached to the body is the most suitable method for positioning system for firefighters. Recently, many techniques for realizing accurate PDR have been researched. Among these, the integration approach-based PDR technology using the Inertial Navigation System (INS) algorithm and the zero velocity-based filtering method (ZUPT: Zero velocity UPdaTe) with the inertial sensors mounted on the shoe is the subject of this paper. ZUPT is a method of estimating / compensating the errors of the INS by using the information that a foot is in contact with the ground and the velocity of the corresponding foot is zero. One of the most important things for this is to accurately detect the moment when the foot velocity is zero. However, it is not easy to detect the accurate zero velocity according to the walking speed, walking type, etc. In this paper, we propose an algorithm that accurately detects the zero velocity of the foot. The proposed algorithm is verified experimentally that the zero velocity can be accurately detected not only when the pedestrian walks but also when running. Also, it is verified that accurate position can be estimated through accurate Zero Velocity Detection (ZVD)-based ZUPT.

Keywords: PDR, zero-velocity detection, ZUPT