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arXiv · 2306.17703

Evaluation of the Benefits of Zero Velocity Update in Decentralized EKF-Based Cooperative Localization Algorithms for GNSS-Denied Multi-Robot Systems

Cagri Kilic·Eduardo Gutierrez·Jason N. Gross
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Abstract

This paper proposes the cooperative use of zero velocity update (ZU) in a decentralized extended Kalman filter (DEKF) based localization algorithm for multi-robot systems. The filter utilizes inertial measurement unit (IMU), ultra-wideband (UWB), and odometry velocity measurements to improve the localization performance of the system in the presence of a GNSS-denied environment. The contribution of this work is to evaluate the benefits of using ZU in a DEKF-based localization algorithm. The algorithm is tested with real hardware in a video motion capture facility and a Robot Operating System (ROS) based simulation environment for unmanned ground vehicles (UGV). Both simulation and real-world experiments are performed to show the effectiveness of using ZU in one robot to reinstate the localization of other robots in a multi-robot system. Experimental results from GNSS-denied simulation and real-world environments show that using ZU with simple heuristics in the DEKF significantly improves the 3D localization accuracy.

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Cagri Kilic, Eduardo Gutierrez, Jason N. Gross. 2023-06-30. Evaluation of the Benefits of Zero Velocity Update in Decentralized EKF-Based Cooperative Localization Algorithms for GNSS-Denied Multi-Robot Systems. https://doi.org/10.33012/navi.608

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