Wheel-GINS: 車輪搭載IMUを用いたGNSS/INS統合航法システム
Wheel-GINS: A GNSS/INS Integrated Navigation System with a Wheel-mounted IMU
車輪に取り付けたIMUとGNSSを拡張カルマンフィルタで統合し、GNSS遮蔽時でも長期的に高精度な自己位置推定を実現するシステムを提案した。
著者: Yibin Wu, Jian Kuang, Xiaoji Niu, Cyrill Stachniss, Lasse Klingbeil, Heiner Kuhlmann
分類: cs.RO
原文アブストラクト
A long-term accurate and robust localization system is essential for mobile robots to operate efficiently outdoors. Recent studies have shown the significant advantages of the wheel-mounted inertial measurement unit (Wheel-IMU)-based dead reckoning system. However, it still drifts over extended periods because of the absence of external correction signals. To achieve the goal of long-term accurate localization, we propose Wheel-GINS, a Global Navigation Satellite System (GNSS)/inertial navigation system (INS) integrated navigation system using a Wheel-IMU. Wheel-GINS fuses the GNSS position measurement with the Wheel-IMU via an extended Kalman filter to limit the long-term error drift and provide continuous state estimation when the GNSS signal is blocked. Considering the specificities of the GNSS/Wheel-IMU integration, we conduct detailed modeling and online estimation of the Wheel-IMU installation parameters, including the Wheel-IMU leverarm and mounting angle and the wheel radius error. Experimental results have shown that Wheel-GINS outperforms the traditional GNSS/Odometer/INS integrated navigation system during GNSS outages. At the same time, Wheel-GINS can effectively estimate the Wheel-IMU installation parameters online and, consequently, improve the localization accuracy and practicality of the system. The source code of our implementation is publicly available (https://github.com/i2Nav-WHU/Wheel-GINS).
