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Research on SINS/OD Independently Integrated Navigation System for Land Vehicles

Wei Xiong

Open publisher page 5 citations

Abstract

An independently integrated navigation system using odometer(OD) to assist the strapdown inertial navigation system(SINS/OD) is discussed.In this paper,the OD error equations are proposed in detail.The observed quantity of the SINS/OD is the velocity's differences between SINS and OD,and the SINS/OD also adopts a closed kalman filter to estimate and correct the errors.The results of simulation indicate that the SINS/OD can effectively eliminate the following errors of navigation parameters:attitude,velocity,latitude and longitude etc.

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What this paper is about

An independently integrated navigation system using odometer(OD) to assist the strapdown inertial navigation system(SINS/OD) is discussed.In this paper,the OD error equations are proposed in detail.The observed quantity of the SINS/OD is the velocity's differences between SINS and OD,and the SINS/OD also adopts a closed kalman filter to estimate and correct the errors.The results of simulation indicate that the SINS/OD can effectively eliminate the following errors of navigation parameters:attitude,velocity,latitude and longitude etc.

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Available abstract

An independently integrated navigation system using odometer(OD) to assist the strapdown inertial navigation system(SINS/OD) is discussed.In this paper,the OD error equations are proposed in detail.The observed quantity of the SINS/OD is the velocity's differences between SINS and OD,and the SINS/OD also adopts a closed kalman filter to estimate and correct the errors.The results of simulation indicate that the SINS/OD can effectively eliminate the following errors of navigation parameters:attitude,velocity,latitude and longitude etc.

Key concepts: Inertial navigation system, Odometer, Kalman filter, Celestial navigation, Control theory (sociology), Navigation system, Computer science, Longitude

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