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i2Nav-WHU · Dec 7, 2023 · 35f16ad · 35f16ad
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 IMU drifts quickly with time! Well...it's true, but what if we mount it on the wheel❓
 
-In Wheel-INS, we proposed a dead reckoning sysytem for the wheeled robots **using only one Wheel-mounted IMU**. There are two major advantages of mounting IMU to the wheel: 1) The vehicle velocity can be directly obtained by the Wheel-IMU without wheel encoder; 2) The continuous rotation of the wheel can somewhat mitigate the error accumulation of the inertial navigation system because of rotation modulation.
+In [Wheel-INS](http://i2nav.cn/ueditor/jsp/upload/file/20210905/1630804325780076093.pdf), we proposed a dead reckoning sysytem for the wheeled robots **using only one Wheel-mounted IMU**. There are two major advantages of mounting IMU to the wheel: 1) The vehicle velocity can be directly obtained by the Wheel-IMU without wheel encoder; 2) The continuous rotation of the wheel can somewhat mitigate the error accumulation of the inertial navigation system because of rotation modulation.
 
 ## 💥News💥
 :tada::tada: Oct. 2023 A completely new version of the code supporting both Linux and Windows is released!