ZUPT Aided GNSS Factor Graph with Inertial Navigation Integration for Wheeled Robots
Çağri Kiliç, Shounak Das, Eduardo Gutiérrez, Ryan M. Watson, Jason N. Gross
2021Proceedings of the Satellite Division's International Technical Meeting (Online)/Proceedings of the Satellite Division's International Technical Meeting (CD-ROM)12 citationsDOIOpen Access PDF
Abstract
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.
Topics & Concepts
GNSS applicationsFactor graphLeverage (statistics)Computer scienceInertial navigation systemSatellite systemGraphInertial measurement unitSatellite navigationKinematicsPrecise Point PositioningReal-time computingInertial frame of referenceSimulationArtificial intelligenceGlobal Positioning SystemAlgorithmTheoretical computer scienceTelecommunicationsPhysicsClassical mechanicsQuantum mechanicsDecoding methodsInertial Sensor and NavigationGNSS positioning and interferenceIndoor and Outdoor Localization Technologies