  The zero-velocity update (ZUPT) algorithm provides valuable state information
to maintain the inertial navigation system (INS) reliability when stationary
conditions are satisfied. Employing ZUPT along with leveraging non-holonomic
constraints can greatly benefit wheeled mobile robot dead-reckoning
localization accuracy. However, determining how often they should be employed
requires consideration to balance localization accuracy and traversal rate for
planetary rovers. To address this, we investigate when to autonomously initiate
stops to improve wheel-inertial odometry (WIO) localization performance with
ZUPT. To do this, we propose a 3D dead-reckoning approach that predicts wheel
slippage while the rover is in motion and forecasts the appropriate time to
stop without changing any rover hardware or major rover operations. We validate
with field tests that our approach is viable on different terrain types and
achieves a 3D localization accuracy of more than 97% over 650 m drives on rough
terrain.
