Wheel-INS: A Wheel-Mounted MEMS IMU-Based Dead Reckoning System

To improve the accuracy and robustness of inertial navigation systems (INS) for wheeled robots without adding additional component cost, we propose Wheel-INS, a complete dead reckoning (DR) solution based on wheel-mounted microelectromechanical system (MEMS) measurement unit (IMU) in this article. There are two major advantages mounting IMU to center non-steering wheel. Firstly, gyroscope outputs can be used calculate wheel speed, so as replace traditional odometer mitigate error drift INS. Secondly, with rotation wheel, constant bias sensor canceled some extent. The installation scheme MEMS (Wheel-IMU), characteristics, DR analysis all discussed paper. Experimental results show that maximum position Wheel-INS horizontal plane is less than 1.8% total traveled distance, reduced by 23% compared conventional odometer-aided INS (ODO/INS). In addition, outperforms ODO/INS because its inherent immunity gyroscopes. source code experimental datasets have been made available community ( https://github.com/i2Nav-WHU/Wheel-INS ).