Aiming at problems that inertial navigation error is drifting with time and the precision of pedestrian trajectory estimation is low

a zero velocity detection algorithm based on human foot movement characteristics is proposed. Through gait analysis and the maximum likelihood estimation

pedestrian motion is divided into two stages: static and movement. The step size is determined by inertial navigation only in the movement stage. In order to reduce the drift of the error with time

the sensor error is corrected in the static stage

and the step size information is deduced continuously

so that the*inertial navigation and positioning can be realized. Based on the proposed zero velocity detection algorithm model

construct experimental platform which uses inertial measurement element as core

and three groups of experiments are carried out. Experimental result shows that the detecting error of zero velocity detection algorithm based on inertial navigation is zero

step length error of single step is 2. 7 %

combined with zero velocity update（ ZUPT）

continous dead reckoning error is 1. 6 %

which verify the method is effective.