SINS/Odometer/Doppler Radar High-Precision Integrated Navigation Method for Land Vehicle

Abstract

A high-precision integrated navigation method for a land vehicle using a strapdown inertial navigation system (SINS), an odometer, and Doppler radar is studied. Attitude outputs of the SINS, distance increment outputs of the odometer, and velocity outputs of Doppler radar are taken to accomplish position and velocity calculation. The error models of the odometer and Doppler radar are studied, and error models of position and velocity calculation are established. Errors including that of the SINS, odometer, and Doppler radar are taken as the system state of integrated navigation. The difference between the SINS position output and the previous position calculation output, as well as between the SINS velocity output and the previous velocity calculation output, is taken as the measurement information. On this basis, the Kalman filter algorithm is used in the design of a high-precision integrated navigation filter. The vehicle trajectory is designed and generated, and the researched navigation method is simulated and verified by MATLAB. Simulation results show that in the navigation time of 10800 s, the horizontal position accuracy is ±27.8 m, the altitude accuracy is ±11.2 m, and the error of position does not exceed 0.03% of the vehicle’s total driving distance. The horizontal attitude accuracy and heading accuracy are <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$\pm 0.3^\prime $ </tex-math></inline-formula> and <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$\pm 2.4^\prime $ </tex-math></inline-formula> , respectively. The horizontal and upward velocity have accuracy of ±0.05 m/s and ±0.01 m/s, respectively. When the odometer and Doppler radar fail to output for a long time, this integrated navigation method still maintains high navigation accuracy and shows superior reliability. Finally, the vehicular experiment is carried out, and the experimental results show that the actual application effect of the SINS/odometer/Doppler radar integrated navigation is as satisfactory as in the simulation experiment. During the navigation time of 3600 s, the heading error of the navigation system is less than <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$\pm 2.6^\prime $ </tex-math></inline-formula> , the horizontal attitude errors are less than <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$\pm 0.7^\prime $ </tex-math></inline-formula> , the horizontal position errors are ±14.9 m, the altitude error is ±13.0 m.