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This work addresses the challenge of developing a localization system for anuncrewed ground vehicle (UGV) operating autonomously in unstructured outdoorGlobal Navigation Satellite System (GNSS)-denied environments. The goal is toenable accurate mapping and long-range navigation with practical applicationsin domains such as autonomous construction, military engineering missions, andexploration of non-Earth planets. The proposed system - Terrain-ReferencedAssured Engineer Localization System (TRAELS) - integrates pose estimatesproduced by two complementary terrain referenced navigation (TRN) methods withwheel odometry and inertial measurement unit (IMU) measurements using anExtended Kalman Filter (EKF). Unlike simultaneous localization and mapping(SLAM) systems that require loop closures, the described approach maintainsaccuracy over long distances and one-way missions without the need to revisitprevious positions. Evaluation of TRAELS is performed across a range ofenvironments. In regions where a combination of distinctive geometric andground surface features are present, the developed TRN methods are leveraged byTRAELS to consistently achieve an absolute trajectory error of less than 3.0 m.The approach is also shown to be capable of recovering from large accumulateddrift when traversing feature-sparse areas, which is essential in ensuringrobust performance of the system across a wide variety of challengingGNSS-denied environments. Overall, the effectiveness of the system in providingprecise localization and mapping capabilities in challenging GNSS-deniedenvironments is demonstrated and an analysis is performed leading to insightsfor improving TRN approaches for UGVs.

A Robust Localization Solution for an Uncrewed Ground Vehicle in Unstructured Outdoor GNSS-Denied Environments