Abstract
A self-contained autonomous dead reckoning (DR) system is desired to complement the Global Navigation Satellite System (GNSS) for land vehicles, for which the odometer-aided inertial navigation system (ODO/INS) is a classical solution. In this study, we use a wheel-mounted MEMS IMU (Wheel-IMU) to substitute the odometer, and further, investigate three types of measurement models, including the velocity measurement, displacement increment measurement, and contact point zero-velocity measurement, in the Wheel-IMU based DR system. The measurement produced by the Wheel-IMU along with the non-holonomic constraint (NHC) are fused with INS through an error-state extended Kalman filter (EKF). Theoretical discussion and field tests illustrate the feasibility and equivalence of the three measurements in terms of the overall DR performance. The maximum horizontal position drifts are all less than 2% of the total travelled distance. Additionally, the displacement increment measurement model is less sensitive to the lever arm error between the Wheel-IMU and the wheel center.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
