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

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