Before revision:  In this study, we use a wheel-mounted MEMS IMU (Wheel-IMU) to substitute the conventional odometer, and further, investigate three types of measurement models, including the velocity measurement, displacement increment measurement, and contact point zero-velocity measurement, in the Wheel-IMU based dead reckoning (DR ) system.
After revision:  In this study, we use a wheel-mounted MEMS IMU (Wheel-IMU) to substitute the conventional odometer, and further, investigate three types of measurement models, including the velocity measurement, displacement increment measurement, and contact point zero-velocity measurement, in the Wheel-IMU based DR system.