ZUPT Aided GNSS Factor Graph with Inertial Navigation Integration for Wheeled Robots

TL;DR

This paper enhances GNSS-based navigation for wheeled robots by integrating zero velocity updates into a factor graph, improving accuracy over GNSS-only methods through experimental validation.

Contribution

It introduces a ZUPT-aided GNSS factor graph that incorporates zero velocity information as a position constraint, improving navigation accuracy.

Findings

ZUPT integration improves GNSS navigation accuracy

Compared to GNSS-only, the method shows better performance

Validated on three datasets with positive results

Abstract

In this work, we demonstrate the importance of zero velocity information for global navigation satellite system (GNSS) based navigation. The effectiveness of using the zero velocity information with zero velocity update (ZUPT) for inertial navigation applications have been shown in the literature. Here we leverage this information and add it as a position constraint in a GNSS factor graph. We also compare its performance to a GNSS/inertial navigation system (INS) coupled factor graph. We tested our ZUPT aided factor graph method on three datasets and compared it with the GNSS-only factor graph.