| PDR | Pedestrian Dead-Reckoning |
| HDE | Heuristic Drift Reduction |
| ZUPT | Zero Velocity Update |
| iHDE | Improved Heuristic Drift Elimination |
| eHDE | Enhanced Heuristic Drift Elimination |
| MEMS | Micro-Electro-Mechanical Systems |
| IEZ | INS-EKF-ZUPT |
| EKF | Extended Kalman Filter |
| IMU | Inertial Measurement Unit |
| SSLPD | Strict Straight-line Paths Detection |
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