# A foot-mounted PDR system based on IMU/EKF+HMM+ZUPT+ZARU+HDR+compass algorithm

> Research article (2017 International Conference on Indoor Positioning and Indoor Navigation (IPIN), 2017) · cited 52× · AI/ML

**Wikidata**: [openalex:W2770796121](https://www.wikidata.org/wiki/openalex:W2770796121)  
**Source**: https://4ort.xyz/entity/a-foot-mounted-pdr-system-based-on-imu-ekf-hmm-zupt-zaru-hdr-compass-algorithm