Wheel-GINS: A GNSS/INS Integrated Navigation System with a Wheel-mounted IMU
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arXiv
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| Autores principales: | , , , , , |
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| Formato: | Preprint |
| Publicado: |
2025
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| Acceso en línea: | |
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| _version_ | 1866915092561395712 |
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| author | Wu, Yibin Kuang, Jian Niu, Xiaoji Stachniss, Cyrill Klingbeil, Lasse Kuhlmann, Heiner |
| author_facet | Wu, Yibin Kuang, Jian Niu, Xiaoji Stachniss, Cyrill Klingbeil, Lasse Kuhlmann, Heiner |
| contents | 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). |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2501_03079 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Wheel-GINS: A GNSS/INS Integrated Navigation System with a Wheel-mounted IMU Wu, Yibin Kuang, Jian Niu, Xiaoji Stachniss, Cyrill Klingbeil, Lasse Kuhlmann, Heiner Robotics 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). |
| title | Wheel-GINS: A GNSS/INS Integrated Navigation System with a Wheel-mounted IMU |
| topic | Robotics |
| url | https://arxiv.org/abs/2501.03079 |