Abstract
Velocity information from the odometer is the key information in a reduced inertial sensor system (RISS), and is prone to noise corruption. In order to improve the navigation accuracy and reliability of a 3D RISS, a method based on a tracking differentiator (TD) filter was proposed to track odometer velocity and acceleration. With the TD filter, an input signal and its differential signal are estimated fast and accurately to avoid the noise amplification that is brought by the conventional differential method. The TD filter does not depend on an object model, and has less computational complexity. Moreover, the filter phase lag is decreased by the prediction process with the differential signal of the TD filter. In this study, the numerical simulation experiments indicate that the TD filter can achieve a better performance on random noises and outliers than traditional numerical differentiation. The effectiveness of the TD filter on a 3D RISS is demonstrated using a group of offline data that were obtained from an actual vehicle experiment. We conclude that the TD filter can not only quickly and correctly filter velocity and estimate acceleration from the odometer velocity for a 3D RISS, but can also improve the reliability of the 3D RISS.
Highlights
Most current land vehicular navigation is highly dependent on the Global Positioning System (GPS)
The standard deviations of latitude and longitude errors between the 3D reduced inertial sensor system (RISS) with a noisy odometer velocity filtered by tracking differentiator (TD) and the 3D RISS with the original odometer velocity are 0.000039◦ and 0.000077◦, respectively
Compared to a lot of studies on RISSs that have focused on filters of RISS/GPS integration or on the error correction of inertial sensors, there have seldom been studies on odometer velocity for a 3D RISS
Summary
Most current land vehicular navigation is highly dependent on the Global Positioning System (GPS). The output of the odometer is disturbed by random errors and some signal jumps because of the quantization errors and measurement noises of the wheel encoders In these conditions, the error of the derivative of velocity information obtained in the classical numerical differential method is significantly boosted, which will decrease the navigation accuracy and reliability of the vehicle greatly. This paper attempts to introduce the tracking-differentiator filter to extract proper velocities and their derivatives from odometers with noises, in order to improve the navigation accuracy and reliability of 3D RISSs in GPS-denied environments. The step-by-step computation of the 3D position is yield by ve vn
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