  A self-contained autonomous navigation system is desired to complement the
Global Navigation Satellite System (GNSS) for land vehicles, for which odometer
aided inertial navigation system (ODO/INS) is a classical solution. 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. The three measurements, along with the non-holonomic
constraints (NHCs) are fused with INS by an extended Kalman filter (EKF).
Theoretical discussion and field tests illustrate their feasibility and
equivalence in overall positioning performance, which have the maximum
horizontal position drifts less than 2% of the total travelled distance.
However, the displacement increment measurement model is less sensitive to the
installation lever arm between the Wheel-IMU and wheel center.
