Aiming at the problem of high-precision positioning of mass-pedestrians with low-cost sensors. a robust single-antenna Global Navigation Satellite System (GNSS)/Pedestrian Dead Reckoning (PDR) integration scheme is proposed with Gate Recurrent Unit (GRU)-based zero-velocity detector. Based on the foot-mounted pedestrian navigation system. the error state extended Kalman filter (EKF) f... https://foldlyers.shop/product-category/computer-speakers/