Figure 5
From: Cooperative localization by dual foot-mounted inertial sensors and inter-agent ranging
Comparison of step-wise dead reckoning and indefinite ZUPT-aided inertial navigation. The plots show the trajectory (top), the position error covariances (middle), and the covariance between the position and heading errors (bottom) as estimated by an extended Kalman filter-based indefinite ZUPT-aided inertial navigation (solid lines) and a step-wise inertial navigation and dead reckoning (crossed lines). The agreement between the systems is far below the accuracy and integrity of the former system.