A Comparison of Three Measurement Models for the Wheel-mounted MEMS IMU-based Dead Reckoning System
This research addresses the problem of improving dead reckoning accuracy for land vehicles by substituting traditional odometers with wheel-mounted MEMS IMUs, which is an incremental improvement for vehicle navigation systems.
This paper investigates three measurement models for a wheel-mounted MEMS IMU-based dead reckoning system, aiming to complement GNSS for land vehicles. The study found that all three models (velocity, displacement increment, and contact point zero-velocity) achieve similar overall dead reckoning performance, with maximum horizontal position drifts less than 2% of the total traveled distance.
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.