ZUPT Aided GNSS Factor Graph with Inertial Navigation Integration for Wheeled Robots
This work addresses localization accuracy for wheeled robots, but it appears incremental as it builds on existing ZUPT techniques in inertial navigation.
The paper tackled the problem of improving GNSS-based navigation for wheeled robots by incorporating zero velocity information as a position constraint in a factor graph, resulting in performance gains compared to GNSS-only methods, though specific numbers are not provided.
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.