ZUPT Aided GNSS Factor Graph with Inertial Navigation Integration for Wheeled Robots

Autor:	Kilic, Cagri, Das, Shounak, Gutierrez, Eduardo, Watson, Ryan, Gross, Jason
Rok vydání:	2021
Předmět:	Computer Science - Robotics
Druh dokumentu:	Working Paper
DOI:	10.33012/2021.18064
Popis:	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. Comment: 9 pages, 8 figures, Preprint Version. Published in ION GNSS+ 2021
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2112.07176 Zobrazit plný text záznamu View this record from Arxiv