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A Double-Step Unscented Kalman Filter and HMM-Based Zero-Velocity Update for Pedestrian Dead Reckoning Using MEMS Sensors

Xin Tong, Yan Su, Zhaofeng Li, Chaowei Si, Guowei Han, Jin Ning, Fuhua Yang. A Double-Step Unscented Kalman Filter and HMM-Based Zero-Velocity Update for Pedestrian Dead Reckoning Using MEMS Sensors. IEEE Transactions on Industrial Electronics, 67(1):581-591, 2020. [doi]

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