An Experimental Study of Odometer as a Navigation aid for Land Vehicle Application

Abstract

Strap-down inertial navigation system (SINS) shall provide position, velocity, and orientation information with reference to a pre-defined reference frame. The SINS shall have excellent accuracy over a short duration and is highly self-contained. However, the errors in navigation solutions build up exponentially with time and make the system output very unstable. In order to mitigate these errors, there is a need for a damping mechanism through external aiding sensors. In this article, one such approach is proposed to improve navigation accuracy for land vehicles in the GNSS (Global Navigation Satellite Systems) denied environment. The design and implementation of an odometer are carried out with the use of inductive proximity sensors and a mounting assembly to attach the odometer to one of the non-steering wheels of a vehicle. The odometer gives the pulse-high and pulse-low output with reference to the rotation of the wheel to which it is attached. Vehicle ground velocity is derived through sensed output pulses processed through quadrature decoder circuitry. Odometer measurements along with non-holonomic constraints (NHC) are used for minimizing velocity and position errors in SINS using an extended Kalman Filter (EKF) technique. Field trials are carried out to validate the proposed scheme of hybrid navigation with odometer design and experimental results are presented with a positioning accuracy of 0.05 % of distance travelled (DT).