A Comparison of Three Measurement Models for the Wheel-Mounted MEMS IMU-Based Dead Reckoning System

A self-contained autonomous dead reckoning (DR) system is desired to complement the Global Navigation Satellite System (GNSS) for land vehicles, which odometer-aided inertial navigation (ODO/INS) a classical solution. In this study, we use wheel-mounted MEMS IMU (Wheel-IMU) substitute odometer, and further, investigate three types of measurement models, including velocity measurement, displacement increment contact point zero-velocity in Wheel-IMU based DR system. The produced by along with non-holonomic constraint (NHC) are fused INS through an error-state extended Kalman filter (EKF). Theoretical discussion field tests illustrate feasibility equivalence measurements terms overall performance. maximum horizontal position drifts all less than 2% total travelled distance. Additionally, model sensitive lever arm error between wheel center.