SINS and Dual Odometers Based on Integrated Navigation System
Shun Zhu, Xiaonian Wang, Zhuping Wang, Jin Zhu
Available Online July 2015.
- https://doi.org/10.2991/lemcs-15.2015.189How to use a DOI?
- SINS; Dual Odometers; Integrated Navigation System; Kalman Filter
- The strapdown inertial navigation system is being broadly applied for land vehicle positioning and navigation because of its complete autonomy. To restrain the positioning error accumulation along with time of SINS more effectively and achieve higher precision of navigation, a method of the dual odometers assisting SINS to obtain more accurate velocity and direction angle information is presented in this paper. Based on the establishment of the error state and observation model of SINS and dual odometers based integrated navigation system, the general and feasible Kalman filtering algorithm is listed correspondingly. The SINS/dual odometers integrated navigation method was validated by a comparison experiment among the single SINS system, SINS/OD integrated navigation system and SINS/dual OD based integrated navigation system, the results of which examines the high performance and indicates the superiority of the proposed method.
- Open Access
- This is an open access article distributed under the CC BY-NC license.
Cite this article
TY - CONF AU - Shun Zhu AU - Xiaonian Wang AU - Zhuping Wang AU - Jin Zhu PY - 2015/07 DA - 2015/07 TI - SINS and Dual Odometers Based on Integrated Navigation System BT - International Conference on Logistics Engineering, Management and Computer Science (LEMCS 2015) PB - Atlantis Press SP - 957 EP - 961 SN - 1951-6851 UR - https://doi.org/10.2991/lemcs-15.2015.189 DO - https://doi.org/10.2991/lemcs-15.2015.189 ID - Zhu2015/07 ER -