Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Wheel-INS: A Wheel-mounted MEMS IMU-based Dead Reckoning System   To improve the accuracy and robustness of the inertial navigation systems
(INS) for wheeled robots without adding additional component cost, we propose
Wheel-INS, a complete dead reckoning solution based on a wheel-mounted
microelectromechanical system (MEMS) inertial measurement unit (IMU). There are
two major advantages by mounting an IMU to the center of a non-steering wheel
of the ground vehicle. Firstly, the gyroscope outputs can be used to calculate
the wheel speed, so as to replace the traditional odometer to mitigate the
error drift of INS. Secondly, with the rotation of the wheel, the constant bias
error of the inertial sensor can be canceled to some extent. The installation
scheme of the wheel-mounted IMU (Wheel-IMU), the system characteristics, and
the dead reckoning error analysis are described. Experimental results show that
the maximum position drift of Wheel-INS in the horizontal plane is less than
1.8% of the total traveled distance, reduced by 23% compared to the
conventional odometer-aided INS (ODO/INS). In addition, Wheel-INS outperforms
ODO/INS because of its inherent immunity to constant bias error of gyroscopes.
The source code and experimental datasets used in this paper is made available
to the community (https://github.com/i2Nav-WHU/Wheel-INS).

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The categories of this paper are: dg-ga
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The categories of this paper are: stat
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The categories of this paper are: math
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The categories of this paper are: econ
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The categories of this paper are: quant-ph
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The categories of this paper are: hep-lat
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The categories of this paper are: chem-ph
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The categories of this paper are: gr-qc
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The categories of this paper are: q-bio
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The categories of this paper are: nucl-ex
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The categories of this paper are: supr-con
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The categories of this paper are: patt-sol
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The categories of this paper are: hep-th
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The categories of this paper are: cond-mat
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The categories of this paper are: chao-dyn
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The categories of this paper are: adap-org