A long-term accurate and robust localization system is essential for mobile robots to operate efficiently outdoors. Recent studies have shown the significant advantages of the wheel-mounted inertial measurement unit (Wheel-IMU)-based dead reckoning system. However, it still drifts over extended periods because of the absence of external correction signals. To achieve the goal of long-term accurate localization, we propose Wheel-GINS, a Global Navigation Satellite System (GNSS)/inertial navigation system (INS) integrated navigation system using a Wheel-IMU. Wheel-GINS fuses the GNSS position measurement with the Wheel-IMU via an extended Kalman filter to limit the long-term error drift and provide continuous state estimation when the GNSS signal is blocked. Considering the specificities of the GNSS/Wheel-IMU integration, we conduct detailed modeling and online estimation of the Wheel-IMU installation parameters, including the Wheel-IMU leverarm and mounting angle and the wheel radius error. Experimental results have shown that Wheel-GINS outperforms the traditional GNSS/Odometer/INS integrated navigation system during GNSS outages. At the same time, Wheel-GINS can effectively estimate the Wheel-IMU installation parameters online and, consequently, improve the localization accuracy and practicality of the system. The source code of our implementation is publicly available (https://github.com/i2Nav-WHU/Wheel-GINS).


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    Titel :

    Wheel-GINS: A GNSS/INS Integrated Navigation System With a Wheel-Mounted IMU


    Beteiligte:
    Wu, Yibin (Autor:in) / Kuang, Jian (Autor:in) / Niu, Xiaoji (Autor:in) / Stachniss, Cyrill (Autor:in) / Klingbeil, Lasse (Autor:in) / Kuhlmann, Heiner (Autor:in)


    Erscheinungsdatum :

    01.05.2025


    Format / Umfang :

    6371536 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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