xavierQiwei / corenav

Improved Planetary Rover Inertial Navigation and Wheel Odometry Performance through Periodic Use of Zero-Type Constraint

Overview

Author: Cagri Kilic
Affiliation: WVU NAVLAB
Maintainer: Cagri Kilic, [e-mail]

Improved Planetary Rover Inertial Navigation and Wheel Odometry Performance through Periodic Use of Zero-Type Constraint

This repository provides a localization algorithm that compensates for the high likelihood of odometry errors by providing a reliable localization solution that leverages nonholonomic vehicle constraints as well as state-aware pseudo-measurements (e.g., zero velocity and zero angular rate) updates during periodic stops.

Keywords: localization, dead-reckoning, zero-velocity, non-holonomic

Citation

If you find this library useful, please cite the following publication:

• Cagri Kilic, Jason N. Gross, Nicholas Ohi, Ryan Watson, Jared Strader, Thomas Swiger, Scott Harper, and Yu Gu: Improved Planetary Rover Inertial Navigation and Wheel Odometry Performance through Periodic Use of Zero-Type Constraints. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019. (arXiv:1906.08849)

    @inproceedings{Kilic2019,
        author = {Kilic, Cagri and Gross,Jason N. and Ohi,Nicholas and Watson, Ryan and Strader, Jared and Swiger, Thomas and Harper, Scott and Gu, Yu},
        booktitle = {2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
        title = {{Improved Planetary Rover Inertial Navigation and Wheel Odometry Performance through Periodic Use of Zero-Type Constraints}},
        year = {2019},
        pages={552-559},
        doi={10.1109/IROS40897.2019.8967634},
        ISSN={2153-0858}, 
        publisher = {IEEE},
        
    }
  

IROS Figures

To generate the same figures in the paper, use v.1.0 and simply run MainRun.m