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 solution based on a wheel-mounted microelectromechanical system (MEMS) inertial measurement unit (IMU). There are two major advantages by mounting an IMU to the center of a non-steering wheel of the ground vehicle. 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 IMU (Wheel-IMU), the system characteristics, and the dead reckoning error analysis are described. 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 used in this paper is made available to the community (https://github.com/i2Nav-WHU/Wheel-INS).

翻译：为了提高轮式机器人惯性导航系统的准确性和稳健性,同时又不增加部件成本,我们提议采用轮式导航系统(INS),这是基于轮式微电子机械惯性测量单元(IMU)的完全报废的计算解决方案。将一个IMU安装到地面车辆非轮式轮盘的中心,有两大优点。首先,陀螺仪产出可以用来计算轮速,以取代传统的航差计,减轻INS的误差漂移。第二,轮式旋转后,惯性传感器的一贯偏向错误可以在某种程度上取消。轮式微电子机械系统(MEMS)惯性测量单元(IMU)的安装计划、系统特性和死亡误算分析都有描述。实验结果显示,轮式导航系统在水平平面上的最大位置漂移速度不到总移动距离的1.8%,比常规的多计INS(ODO/INS)减少23%。此外,轮式INS/INSDO/INS 的惯性光学源值为ODODO/INSA文件的惯性偏差源。