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In this paper, we propose a leg odometry assisted global navigation satellite system (GNSS)/inertial navigation system (INS) integrated navigation system for the quadruped robot. First, we present a left invariant extended Kalman filter for global measurement on Rotating earth in the local world frame. Next, we construct a leg odometry and derive the contact point motion dynamics and leg odometry observation equation for the quadruped robot. Finally, the field experiment shows that the odometry assisted GNSS/INS integrated system can significantly reduce the position error compared to the one without GNSS signal.

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Leg Odometry Assisted GNSS/INS Integrated Navigation System for the Quadruped Robot

  • 会议论文

  • 发表日期：

    2025年

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  • Yarong Luo,
  • Yichao Chen,
  • Anbo Tao,
  • Chi Guo

摘要

In this paper, we propose a leg odometry assisted global navigation satellite system (GNSS)/inertial navigation system (INS) integrated navigation system for the quadruped robot. First, we present a left invariant extended Kalman filter for global measurement on Rotating earth in the local world frame. Next, we construct a leg odometry and derive the contact point motion dynamics and leg odometry observation equation for the quadruped robot. Finally, the field experiment shows that the odometry assisted GNSS/INS integrated system can significantly reduce the position error compared to the one without GNSS signal.