Observability analysis of SINS/odometer integrated navigation

Author

Xiaoyue Zhang ; Pengbo Liu ; Xiaojing Yi ; Chunxi Zhang

Author_Institution

Sch. of Instrum. Sci. & Optoelectron. Eng., Beihang Univ., Beijing, China

fYear

2014

fDate

8-10 Aug. 2014

Firstpage

148

Lastpage

152

Abstract

An integrated navigation method of strapdown inertial navigation system(SINS) and odometer basing on Kalman filter was introduced. In the integrated navigation, error of SINS, inertial measurement unit(IMU) and odometer could be estimated and compensated online. Based on the integrated navigation measurement equation, together with the combining typical maneuver of land vehicle and error propagating analysis, online estimating and observability analysis of integrated navigation Kalman filter states was carried out, including error states of odometer, IMU and SINS. At last, simulation of SINS/odometer integrated navigation was carried out, and correlated results were presented, by which the observability analysis of filter states was validated.

Keywords

Kalman filters; inertial navigation; observability; weapons; IMU; Kalman filter; SINS-odometer integrated navigation; error propagating analysis; inertial measurement unit; integrated navigation measurement equation; land vehicle; observability analysis; strapdown inertial navigation system; Equations; Kalman filters; Mathematical model; Navigation; Observability; Silicon compounds; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Guidance, Navigation and Control Conference (CGNCC), 2014 IEEE Chinese

Conference_Location

Yantai

Print_ISBN

978-1-4799-4700-3

Type

conf

DOI

10.1109/CGNCC.2014.7007231

Filename

7007231