Kilic Cagri, Ohi Nicholas, Gu Yu, Gross Jason N
Department of Mechanical and Aerospace Engineering, West Virginia University, Morgantown, WV 26506 USA.
IEEE Robot Autom Lett. 2021 Jul;6(3):4782-4789. doi: 10.1109/lra.2021.3068893. Epub 2021 Mar 25.
The zero-velocity update (ZUPT) algorithm provides valuable state information to maintain the inertial navigation system (INS) reliability when stationary conditions are satisfied. Employing ZUPT along with leveraging non-holonomic constraints can greatly benefit wheeled mobile robot dead-reckoning localization accuracy. However, determining how often they should be employed requires consideration to balance localization accuracy and traversal rate for planetary rovers. To address this, we investigate when to autonomously initiate stops to improve wheel-inertial odometry (WIO) localization performance with ZUPT. To do this, we propose a 3D dead-reckoning approach that predicts wheel slippage while the rover is in motion and forecasts the appropriate time to stop without changing any rover hardware or major rover operations. We validate with field tests that our approach is viable on different terrain types and achieves a 3D localization accuracy of ~97% over 650 m drives on rough terrain.
零速度更新（ZUPT）算法在满足静止条件时，可为维持惯性导航系统（INS）的可靠性提供有价值的状态信息。将ZUPT与利用非完整约束相结合，可极大地提高轮式移动机器人航位推算定位精度。然而，确定它们的使用频率需要考虑平衡行星漫游车的定位精度和遍历速率。为解决这一问题，我们研究何时自主启动停车，以利用ZUPT提高轮式惯性里程计（WIO）定位性能。为此，我们提出了一种三维航位推算方法，该方法可在漫游车运动时预测车轮打滑，并预测合适的停车时间，而无需更改任何漫游车硬件或主要漫游车操作。我们通过现场测试验证了我们的方法在不同地形类型上是可行的，并且在崎岖地形上行驶650米的过程中实现了约97%的三维定位精度。
