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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Veröffentlicht in:	IEEE robotics and automation letters Jg. 6; H. 3; S. 4782 - 4789
Hauptverfasser:	Kilic, Cagri, Ohi, Nicholas, Gu, Yu, Gross, Jason
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	United States IEEE 01.07.2021 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:	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
Online-Zugang:	Volltext
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