ZUPT Aided GNSS Factor Graph with Inertial Navigation Integration for Wheeled Robots

Cagri Kilic, Shounak Das, Eduardo Gutierrez, Ryan Watson, and Jason Gross

Abstract:	In this work, we demonstrate the importance of zero velocity information for global navigation satellite system (GNSS) based navigation. The effectiveness of using the zero velocity information with zero velocity update (ZUPT) for inertial navigation applications have been shown in the literature. Here we leverage this information and add it as a position constraint in a GNSS factor graph. We also compare its performance to a GNSS/inertial navigation system (INS) coupled factor graph. We tested our ZUPT aided factor graph method on three datasets and compared it with the GNSS-only factor graph.
Published in:	Proceedings of the 34th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2021) September 20 - 24, 2021 Union Station Hotel St. Louis, Missouri
Pages:	3285 - 3293
Cite this article:	Kilic, Cagri, Das, Shounak, Gutierrez, Eduardo, Watson, Ryan, Gross, Jason, "ZUPT Aided GNSS Factor Graph with Inertial Navigation Integration for Wheeled Robots," Proceedings of the 34th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2021), St. Louis, Missouri, September 2021, pp. 3285-3293. https://doi.org/10.33012/2021.18064
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