Abstract
It is a challenge to achieve high accuracy navigation for land vehicles without the aid of global navigation satellite systems (GNSS). Inertial measurement unit (IMU) and odometer (OD) are widely deployed due to their complementary properties. In this paper, SINS/OD integrated navigation algorithm based on body frame position increment is studied to improve the navigation performance. Taking the calibration errors of odometer scale factor, IMU installation angle, and lever arm into consideration, the odometer measurement model is derived. Then measurement equations based on body frame position increment are proposed to overcome the amplified random errors in the traditional velocity observation approach. Odometer fault detection and exception are conducted based on residual χ2 detection method, with the nonholonomic constraints of land vehicles applied to mitigate the standalone SINS error drift. Long distance real test is carried out using laser gyro SINS to assess the proposed algorithm, which shows that navigation performance can be effectively improved.
Highlights
Land vehicle navigation has been widely used in areas such as mining, agriculture, cargo handling, and borehole surveying [1]
The test system is composed of a car, an Inertial measurement unit (IMU) consisting of a laser gyro triad and an accelerator triad, an odometer, and a GPS receiver
The outputs of Strapdown inertial navigation system (SINS) and OD are integrated in velocity observation approach, in which the OD outputs, together with the nonholonomic constraints (NHC) information, are utilized to provide velocity measurements
Summary
Land vehicle navigation has been widely used in areas such as mining, agriculture, cargo handling, and borehole surveying [1]. Long distance/time self-contained high-precision navigation for land vehicles without the aid of GNSS is still a challenge up to now. Relative sensors such us odometers (OD) and Doppler velocity log (DVL) can be used to measure the forward speed of vehicles. Large OD measurement errors may occur due to skid caused by bad road conditions such as soft or icy land surfaces To solve these problems, a novel scheme based on body frame position increment is recommended in this paper.
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