Zero velocity update (ZUPT) plays an important role in pedestrian navigation algorithms with the premise that the zero velocity interval (ZVI) should be detected accurately and effectively. A novel adaptive ZVI detection algorithm based on a smoothed pseudo Wigner–Ville distribution to remove multiple frequencies intelligently (SPWVD-RMFI) is proposed in this paper. The novel algorithm adopts the SPWVD-RMFI method to extract the pedestrian gait frequency and to calculate the optimal ZVI detection threshold in real time by establishing the function relationships between the thresholds and the gait frequency; then, the adaptive adjustment of thresholds with gait frequency is realized and improves the ZVI detection precision. To put it into practice, a ZVI detection experiment is carried out; the result shows that compared with the traditional fixed threshold ZVI detection method, the adaptive ZVI detection algorithm can effectively reduce the false and missed detection rate of ZVI; this indicates that the novel algorithm has high detection precision and good robustness. Furthermore, pedestrian trajectory positioning experiments at different walking speeds are carried out to evaluate the influence of the novel algorithm on positioning precision. The results show that the ZVI detected by the adaptive ZVI detection algorithm for pedestrian trajectory calculation can achieve better performance.

Traditional artillery guidance can significantly improve the attack accuracy and overall combat efficiency of projectiles, which makes it more adaptable to the information warfare of the future. Obviously, the accurate measurement of artillery spin rate, which has long been regarded as a daunting task, is the basis of precise guidance and control. Magnetoresistive (MR) sensors can be applied to spin rate measurement, especially in the high-spin and high-g projectile launch environment. In this paper, based on the theory of a MR sensor measuring spin rate, the mathematical relationship model between the frequency of MR sensor output and projectile spin rate was established through a fundamental derivation. By analyzing the characteristics of MR sensor output whose frequency varies with time, this paper proposed the Chirp z-Transform (CZT) time-frequency (TF) domain analysis method based on the rolling window of a Blackman window function (BCZT) which can accurately extract the projectile spin rate. To put it into practice, BCZT was applied to measure the spin rate of 155 mm artillery projectile. After extracting the spin rate, the impact that launch rotational angular velocity and aspect angle have on the extraction accuracy of the spin rate was analyzed. Simulation results show that the BCZT TF domain analysis method can effectively and accurately measure the projectile spin rate, especially in a high-spin and high-g projectile launch environment.

Purpose This study aims to design an optimized algorithm for low-cost pedestrian navigation system (PNS) to correct the heading drift and altitude error, thus achieving high-precise pedestrian location in both two-dimensional (2-D) and three-dimensional (3-D) space. Design/methodology/approach A novel heading correction algorithm based on smoothing filter at the terminal of zero velocity interval (ZVI) is proposed in the paper. This algorithm adopts the magnetic sensor to calculate all the heading angles in the ZVI and then applies a smoothing filter to obtain the optimal heading angle. Furthermore, heading correction is executed at the terminal moment of ZVI. Meanwhile, an altitude correction algorithm based on step height constraint is proposed to suppress the altitude channel divergence of strapdown inertial navigation system by using the step height as the measurement of the Kalman filter. Findings The verification experiments were carried out in 2-D and 3-D space to evaluate the performance of the proposed pedestrian navigation algorithm. The results show that the heading drift and altitude error were well corrected. Meanwhile, the path calculated by the novel algorithm has a higher match degree with the reference trajectory, and the positioning errors of the 2-D and 3-D trajectories are both less than 0.5 per cent. Originality/value Besides zero velocity update, another two problems, namely, heading drift and altitude error in the PNS, are solved, which ensures the high positioning precision of pedestrian in indoor and outdoor environments.

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