High Accuracy Algorithm for SINS/Odometer Integrated Navigation System

doi:10.3969/j.issn.1000-1093.2014.04.001

Abstract

Abstract: To solve the problems induced by the scale factor error of odometer (OD) and the installation error of inertial measurement unit in the vehicle strapdown inertial navigation system (SINS)/OD integrated navigation system, a SINS/OD integrated navigation algorithm is proposed, in which a new measurement equation is established and a fault detection method is introduced. This algorithm can effectively improve the navigation accuracy, and accurately detect the fault in time. It can also be suitable for the navigation mode aided by vehicle kinematics constraints to provide a fault-tolerant scheme for OD fault. The simulation results show that the algorithm is effective.

Key words: control science and technology, strapdown inertial navigation system, odometer, scale factor error, installation error, fault detection

CLC Number:

U666.12

ZHAO Hong-song, MIAO Ling-juan, SHEN Jun. High Accuracy Algorithm for SINS/Odometer Integrated Navigation System[J]. Acta Armamentarii, 2014, 35(4): 433-440.

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