A Comparison of Three Measurement Models for the Wheel-mounted MEMS IMU-based Dead Reckoning System

TL;DR

This paper compares three measurement models for a wheel-mounted MEMS IMU-based dead reckoning system, demonstrating their effectiveness and robustness in land vehicle navigation with less than 2% drift.

Contribution

It introduces and evaluates three measurement models for Wheel-IMU dead reckoning, highlighting the displacement increment model's robustness to lever arm errors.

Findings

All models achieve less than 2% position drift.

Displacement increment model is less sensitive to lever arm errors.

Theoretical and field tests confirm the models' feasibility.

Abstract

A self-contained autonomous dead reckoning (DR) system is desired to complement the Global Navigation Satellite System (GNSS) for land vehicles, for which 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.