Wheel-GINS: A GNSS/INS Integrated Navigation System with a Wheel-mounted IMU

Wheel-GINS is an integrated navigation system that combines GNSS data with a wheel-mounted IMU (Wheel-IMU). Building on insights from our previous study, Wheel-INS, which highlighted the significant advantages of the Wheel-IMU, we propose Wheel-GINS to further enhance localization accuracy and robustness. It performs a similar information fusion process as the conventional GNSS/Odometer/IMU integrated systems. Moreover, all Wheel-IMU installation parameters are estimated online in Wheel-GINS, enhancing the system's practicality and adaptability.

Run it

1. Linux

We recommend you to use g++ compiler with Ubuntu 20.04. The build-essential libraries should be installed first:

sudo apt-get install cmake
sudo apt-get install build-essential

After preparing the compilation environment, you can clone the repository and run it as follows:

# Clone the repository
git clone [email protected]:i2Nav-WHU/Wheel-GINS.git ~/

# Build Wheel-INS
cd ~/Wheel-GINS
mkdir build && cd build

cmake ..
make -j10

# Run demo dataset
cd ~/Wheel-INS
./bin/Wheel-GINS config/20231213.yaml

2. Windows

Here we show how to run the code with Visual Studio Code (VSCode), but you can also use other IDEs, e.g., Visual Studio.

• Install VSCode and the extensions: C/C++, C/C++ Extension Pack, CMake, and CMake Tools.
• Install CMake and Microsoft Visual C/C++ Build Tools.
• Open Wheel-INS with VSCode.
• Set compiler: open the Command Palette (Ctrl+Shift+P) and type "CMake: Select a Kit", select the correct build tool according to your system.
• Configure CMake: type and click "CMake: Configure" in the Command Palette.
• Compile Project: type and click "CMake: Build" in the Command Palette.

Once a execuble file Wheel-INS.exe is generated, the compilation is done. Then, you can run it via the terminal in VSCode as following:

.\bin\Release\Wheel-GINS.exe config/20231213.yaml

Related Papers

If you find our studies helpful to your academic research, please consider citing the related papers.

• Y. Wu, J. Kuang, X. Niu, C. Stachniss, L. Klingbeil and H. Kuhlmann, "Wheel-GINS: A GNSS/INS Integrated Navigation System with a Wheel-mounted IMU," IEEE Transactions on Intelligent Transportation Systems, 2025.

@ARTICLE{wu2025tits,
  author={Wu, Yibin and Kuang, Jian and Niu, Xiaoji and Stachniss, Cyrill and Klingbeil, Lasse and Kuhlmann, Heiner},
  journal={IEEE Transactions on Intelligent Transportation Systems}, 
  title={{Wheel-GINS}: A {GNSS/INS} Integrated Navigation System with a Wheel-mounted {IMU}}, 
  year={2025}
}

• X. Niu, Y. Wu and J. Kuang, "Wheel-INS: A Wheel-mounted MEMS IMU-based Dead Reckoning System," IEEE Transactions on Vehicular Technology, doi: 10.1109/TVT.2021.3108008, 2021. (pdf) (code)

@ARTICLE{niu2021tvt,
  author={Niu, Xiaoji and Wu, Yibin and Kuang, Jian},
  journal={IEEE Transactions on Vehicular Technology}, 
  title={{Wheel-INS}: A Wheel-Mounted {MEMS IMU}-Based Dead Reckoning System}, 
  year={2021},
  volume={70},
  number={10},
  pages={9814-9825},
  doi={10.1109/TVT.2021.3108008}
}

License

The code is released under GPLv3 license.

Acknowledgement

Thanks to KF-GINS.

For any questions, please feel free to contact Mr. Yibin Wu (ybwu at whu.edu.cn) or Dr. Jian Kuang (kuang at whu.edu.cn).