Comparison and Evaluation of Several Types of Odometers

As a key component of simultaneous localization and mapping (SLAM), multi-sensor fusion positioning, and other technologies, evaluating the dead reckoning performance of odometers based on different principles is of great significance for understanding the characteristics of odometers and improving navigation performance. This paper evaluates the positioning accuracy of odometers constructed based on four principles: Time Differenced Carrier Phase (TDCP), Time Differenced Pesudorange (TDPR), Visual-Inertial Navigation System (VINS), and Inertial Navigation System (INS). Quantitative research was conducted using low-cost receiver Ublox ZED-F9P, inertial navigation instruments of different accuracy levels, and low-cost VINS equipment, combined with four open-source datasets. The results indicate that in terms of accuracy, TDCP technology has the slowest dead reckoning divergence speed, but is easily affected by the observation environment. In contrast, VINS has a slightly faster divergence speed, but its performance is affected by factors such as dynamic objects. Inertial navigation equipment is least affected by the environment, but even for navigation level equipment, pure inertial dead reckoning can diverge by tens of meters in position within 3 minutes.