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

1 code implementation • 13 Mar 2021 • Cagri Kilic, Nicholas Ohi, Yu Gu, Jason N. Gross

The zero-velocity update (ZUPT) algorithm provides valuable state information to maintain the inertial navigation system (INS) reliability when stationary conditions are satisfied.

Improved Planetary Rover Inertial Navigation and Wheel Odometry Performance through Periodic Use of Zero-Type Constraints

4 code implementations • 20 Jun 2019 • Cagri Kilic, Jason N. Gross, Nicholas Ohi, Ryan Watson, Jared Strader, Thomas Swiger, Scott Harper, Yu Gu

We present an approach to enhance wheeled planetary rover dead-reckoning localization performance by leveraging the use of zero-type constraint equations in the navigation filter.

Robotics