| IMU | Inertial Measurement Unit |
| EKF | Extended Kalman Filter |
| ZUPT | Zero Velocity Update |
| APS | Absolute Positioning System |
| GNSS | Global Navigation Satellite System |
| MEMS | Micro-Electro-Mechanical Systems |
| SLAM | Simultaneous Localization and Mapping |
| SHOE | Stance Hypothesis and Optimal Estimation |
| CDF | Cumulative Distribution Function |
| eCDF | Empirical Cumulative Distribution Function |
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