Purpose: To understand which cases ZUPT should be ON and which case ZUPT should be OFF.

Last Updated: June 2020

ZUPT - or Zero Update Position and Timing, is used to mitigate gyroscope bias drift and in turn mitigate heading drift in a GPS-Denied environment. It should be enabled when the user wants to reduce its accumulated orientation and position errors once a carrier object stops. If a completely motionless state is not achievable, then the user should disable the ZUPT option.

Important Note: ZUPT can only be used on a fixed axis land vehicle. By default, it should then be off for any other type of vehicle.