For citations:

Wang Y., Jao Ch., Shkel A.M. Scenario-Dependent ZUPT-Aided Pedestrian Inertial Navigation with Sensor Fusion. Giroskopiya i Navigatsiya / Gyroscopy and Navigation. 2021;29(1):3-31. (In Russ.) https://doi.org/0.17285/0869-7035.0054