INS /Odometer integrated navigation system based on position modification for underground mine vehicle

When the vehicle travels underground mine,its motion region is restricted to the roadways. So we can set the modification points which has been measured the coordinates in advance in roadways to correct the error state in INS /Odometer integrated navigation. This method is aimed at increasing the navigation precision. Firstly,the computation method of position and velocity in Odometer was introduced. System dynamic model and observation model of INS / Odometer integrated navigation was built. Based on this,position modification filter equation of known point was constructed. After introducing the Parallel-Kalman filter to realize the dual filter of integrated navigation,INS / Odometer integrated navigation system based on position modification for underground mine vehicle was proposed. Experiment of simulated data and actual measurement were made to compare the navigation accuracy between before and after position modification. The results of the experiment indicate that the INS / Odometer integrated navigation performance is increased substantially by position modification of known points in roadways. Plane precision of real-time navigation increased from dozens of meters to meter scale,which is able to meet the needs of navigation for underground mine vehicle.