Zero velocity update (ZUPT) is an inexpensive and effective method for error control of inertial navigation system (INS).Detecting the stopping time interval is important for ZUPT methods.The ZUPT method based on Kalman filter has a higher degree of precision compared with the ZUPT method based on curve fitting and the ZUPT method based on maximum likelihood estimation,but the modeling of Kalman filter is critical for the performance of INS.In this paper,three kinds of zero-velocity detectors and a linear discrete Kalman filter model are applied in ZUPT for INS.Simulation results show that the three kinds of zero-velocity detectors are effective,and the ZUPT method based on the linear discrete Kalman filter model makes the positioning accuracy of INS significantly improved.