This article proposes a generalized UltraWideBand (UWB)-Zero-velocity-UPdaTe (ZUPT)-simultaneous localization and mapping (SLAM) algorithm. a SLAM approach. utilizing a combination of foot-mounted localization systems integrating inertial measurement units (IMUs). UWB modules. https://www.ealisboa.com/top-save-RE-DESIGNED-Strikketoy-oppbevaring-Prosjekt-27-Sort-100-Skinn-great-save/