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To improve the accuracy and robustness of the inertial navigation systems(INS) for wheeled robots without adding additional component cost, we proposeWheel-INS, a complete dead reckoning solution based on a wheel-mountedmicroelectromechanical system (MEMS) inertial measurement unit (IMU). There aretwo major advantages by mounting an IMU to the center of a non-steering wheelof the ground vehicle. Firstly, the gyroscope outputs can be used to calculatethe wheel speed, so as to replace the traditional odometer to mitigate theerror drift of INS. Secondly, with the rotation of the wheel, the constant biaserror of the inertial sensor can be canceled to some extent. The installationscheme of the wheel-mounted IMU (Wheel-IMU), the system characteristics, andthe dead reckoning error analysis are described. Experimental results show thatthe maximum position drift of Wheel-INS in the horizontal plane is less than1.8% of the total traveled distance, reduced by 23% compared to theconventional odometer-aided INS (ODO/INS). In addition, Wheel-INS outperformsODO/INS because of its inherent immunity to constant bias error of gyroscopes.The source code and experimental datasets used in this paper is made availableto the community (https://github.com/i2Nav-WHU/Wheel-INS).

Wheel-INS: A Wheel-mounted MEMS IMU-based Dead Reckoning System