Slip-Based Autonomous ZUPT through Gaussian Process to Improve Planetary Rover Localization

TL;DR

This paper introduces a Gaussian process-based method for autonomous slip detection and ZUPT initiation to enhance planetary rover localization accuracy without hardware modifications.

Contribution

It presents a novel 3D dead-reckoning approach that predicts wheel slippage and determines optimal stopping times for improved localization.

Findings

Achieves over 97% localization accuracy on rough terrain

Validates approach on different terrain types

Enhances wheel-inertial odometry performance

Abstract

The zero-velocity update (ZUPT) algorithm provides valuable state information to maintain the inertial navigation system (INS) reliability when stationary conditions are satisfied. Employing ZUPT along with leveraging non-holonomic constraints can greatly benefit wheeled mobile robot dead-reckoning localization accuracy. However, determining how often they should be employed requires consideration to balance localization accuracy and traversal rate for planetary rovers. To address this, we investigate when to autonomously initiate stops to improve wheel-inertial odometry (WIO) localization performance with ZUPT. To do this, we propose a 3D dead-reckoning approach that predicts wheel slippage while the rover is in motion and forecasts the appropriate time to stop without changing any rover hardware or major rover operations. We validate with field tests that our approach is viable on different terrain types and achieves a 3D localization accuracy of more than 97% over 650 m drives on rough terrain.