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Research on Vehicle-Borne GPS/SINS/OD Integrated Navigation System

Lei Zhan

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Abstract

The error accumulation of inertial navigation system is solved well by GPS/SINS integrated navigation system,but when GPS signal failure,GPS/SINS integrated navigation system does not work normally or works in low precision.In order to improve positioning precision and integrity,odometer speed information is utilized to assist SINS when GPS signal failure.The Kalman filtering dynamic model for the proposed car GPS/ DR integrated navigation system is deduced.Car experiment is performed to verify the proposed method.The results show that OD/SINS has higher navigation accuracy,when GPS signal failure for short time.

About this research paper

What this paper is about

The error accumulation of inertial navigation system is solved well by GPS/SINS integrated navigation system,but when GPS signal failure,GPS/SINS integrated navigation system does not work normally or works in low precision.In order to improve positioning precision and integrity,odometer speed information is utilized to assist SINS when GPS signal failure.The Kalman filtering dynamic model for the proposed car GPS/ DR integrated navigation system is deduced.Car experiment is performed to verify the proposed method.The results show that OD/SINS has higher navigation accuracy,when GPS signal failure for short time.

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Available abstract

The error accumulation of inertial navigation system is solved well by GPS/SINS integrated navigation system,but when GPS signal failure,GPS/SINS integrated navigation system does not work normally or works in low precision.In order to improve positioning precision and integrity,odometer speed information is utilized to assist SINS when GPS signal failure.The Kalman filtering dynamic model for the proposed car GPS/ DR integrated navigation system is deduced.Car experiment is performed to verify the proposed method.The results show that OD/SINS has higher navigation accuracy,when GPS signal failure for short time.

Key concepts: Global Positioning System, Odometer, Inertial navigation system, Navigation system, GPS/INS, Kalman filter, GPS signals, Computer science

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