Slip-Based Autonomous ZUPT Through Gaussian Process to Improve Planetary Rover Localization

The zero-velocity update (ZUPT) algorithm provides valuable state information to maintain the inertial navigation system (INS) reliability when stationary conditions are satisfied. Employing ZUPT along with leveraging non-holonomic constraints can greatly benefit wheeled mobile robot dead-reckoning...

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Vydáno v:	IEEE robotics and automation letters Ročník 6; číslo 3; s. 4782 - 4789
Hlavní autoři:	Kilic, Cagri, Ohi, Nicholas, Gu, Yu, Gross, Jason
Médium:	Journal Article
Jazyk:	angličtina
Vydáno:	United States IEEE 01.07.2021 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Témata:	Accuracy Algorithms Dead reckoning Estimation Extraterrestrial measurements Field tests Gaussian process Inertial navigation Kernel Localization Location awareness Navigation systems Planetary rovers Reliability aspects Rough terrain Slippage Space robotics and automation Space vehicles Training Wheels zero velocity update Planetary Rovers Localization Space Robotics and Automation Zero Velocity Update
ISSN:	2377-3766, 2377-3766
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Abstract	The zero-velocity update (ZUPT) algorithm provides valuable state information to maintain the inertial navigation system (INS) reliability when stationary conditions are satisfied. Employing ZUPT along with leveraging non-holonomic constraints can greatly benefit wheeled mobile robot dead-reckoning localization accuracy. However, determining how often they should be employed requires consideration to balance localization accuracy and traversal rate for planetary rovers. To address this, we investigate when to autonomously initiate stops to improve wheel-inertial odometry (WIO) localization performance with ZUPT. To do this, we propose a 3D dead-reckoning approach that predicts wheel slippage while the rover is in motion and forecasts the appropriate time to stop without changing any rover hardware or major rover operations. We validate with field tests that our approach is viable on different terrain types and achieves a 3D localization accuracy of <inline-formula><tex-math notation="LaTeX">{\sim}97{\bf \%}</tex-math></inline-formula> over 650 m drives on rough terrain.
AbstractList	The zero-velocity update (ZUPT) algorithm provides valuable state information to maintain the inertial navigation system (INS) reliability when stationary conditions are satisfied. Employing ZUPT along with leveraging non-holonomic constraints can greatly benefit wheeled mobile robot dead-reckoning localization accuracy. However, determining how often they should be employed requires consideration to balance localization accuracy and traversal rate for planetary rovers. To address this, we investigate when to autonomously initiate stops to improve wheel-inertial odometry (WIO) localization performance with ZUPT. To do this, we propose a 3D dead-reckoning approach that predicts wheel slippage while the rover is in motion and forecasts the appropriate time to stop without changing any rover hardware or major rover operations. We validate with field tests that our approach is viable on different terrain types and achieves a 3D localization accuracy of ~97% over 650 m drives on rough terrain.The zero-velocity update (ZUPT) algorithm provides valuable state information to maintain the inertial navigation system (INS) reliability when stationary conditions are satisfied. Employing ZUPT along with leveraging non-holonomic constraints can greatly benefit wheeled mobile robot dead-reckoning localization accuracy. However, determining how often they should be employed requires consideration to balance localization accuracy and traversal rate for planetary rovers. To address this, we investigate when to autonomously initiate stops to improve wheel-inertial odometry (WIO) localization performance with ZUPT. To do this, we propose a 3D dead-reckoning approach that predicts wheel slippage while the rover is in motion and forecasts the appropriate time to stop without changing any rover hardware or major rover operations. We validate with field tests that our approach is viable on different terrain types and achieves a 3D localization accuracy of ~97% over 650 m drives on rough terrain. The zero-velocity update (ZUPT) algorithm provides valuable state information to maintain the inertial navigation system (INS) reliability when stationary conditions are satisfied. Employing ZUPT along with leveraging non-holonomic constraints can greatly benefit wheeled mobile robot dead-reckoning localization accuracy. However, determining how often they should be employed requires consideration to balance localization accuracy and traversal rate for planetary rovers. To address this, we investigate when to autonomously initiate stops to improve wheel-inertial odometry (WIO) localization performance with ZUPT. To do this, we propose a 3D dead-reckoning approach that predicts wheel slippage while the rover is in motion and forecasts the appropriate time to stop without changing any rover hardware or major rover operations. We validate with field tests that our approach is viable on different terrain types and achieves a 3D localization accuracy of ~97% over 650 m drives on rough terrain. The zero-velocity update (ZUPT) algorithm provides valuable state information to maintain the inertial navigation system (INS) reliability when stationary conditions are satisfied. Employing ZUPT along with leveraging non-holonomic constraints can greatly benefit wheeled mobile robot dead-reckoning localization accuracy. However, determining how often they should be employed requires consideration to balance localization accuracy and traversal rate for planetary rovers. To address this, we investigate when to autonomously initiate stops to improve wheel-inertial odometry (WIO) localization performance with ZUPT. To do this, we propose a 3D dead-reckoning approach that predicts wheel slippage while the rover is in motion and forecasts the appropriate time to stop without changing any rover hardware or major rover operations. We validate with field tests that our approach is viable on different terrain types and achieves a 3D localization accuracy of [Formula Omitted] over 650 m drives on rough terrain. The zero-velocity update (ZUPT) algorithm provides valuable state information to maintain the inertial navigation system (INS) reliability when stationary conditions are satisfied. Employing ZUPT along with leveraging non-holonomic constraints can greatly benefit wheeled mobile robot dead-reckoning localization accuracy. However, determining how often they should be employed requires consideration to balance localization accuracy and traversal rate for planetary rovers. To address this, we investigate when to autonomously initiate stops to improve wheel-inertial odometry (WIO) localization performance with ZUPT. To do this, we propose a 3D dead-reckoning approach that predicts wheel slippage while the rover is in motion and forecasts the appropriate time to stop without changing any rover hardware or major rover operations. We validate with field tests that our approach is viable on different terrain types and achieves a 3D localization accuracy of <inline-formula><tex-math notation="LaTeX">{\sim}97{\bf \%}</tex-math></inline-formula> over 650 m drives on rough terrain.
Author	Kilic, Cagri Gu, Yu Gross, Jason Ohi, Nicholas
Author_xml	– sequence: 1 givenname: Cagri orcidid: 0000-0002-8117-3602 surname: Kilic fullname: Kilic, Cagri email: cakilic@mix.wvu.edu organization: Department of Mechanical and Aerospace Engineering, West Virginia University, Morgantown, WV, USA – sequence: 2 givenname: Nicholas orcidid: 0000-0001-7868-1756 surname: Ohi fullname: Ohi, Nicholas email: nohi@mix.wvu.edu organization: Department of Mechanical and Aerospace Engineering, West Virginia University, Morgantown, WV, USA – sequence: 3 givenname: Yu orcidid: 0000-0003-3165-3269 surname: Gu fullname: Gu, Yu email: yu.gu@mail.wvu.edu organization: Department of Mechanical and Aerospace Engineering, West Virginia University, Morgantown, WV, USA – sequence: 4 givenname: Jason orcidid: 0000-0002-7771-2757 surname: Gross fullname: Gross, Jason email: Jason.Gross@mail.wvu.edu organization: Department of Mechanical and Aerospace Engineering, West Virginia University, Morgantown, WV, USA
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SubjectTerms	Accuracy Algorithms Dead reckoning Estimation Extraterrestrial measurements Field tests Gaussian process Inertial navigation Kernel Localization Location awareness Navigation systems Planetary rovers Reliability aspects Rough terrain Slippage Space robotics and automation Space vehicles Training Wheels zero velocity update
Title	Slip-Based Autonomous ZUPT Through Gaussian Process to Improve Planetary Rover Localization
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