Research on vehicle inertial navigation system dynamic correction technology based on reference object

The integrated system composed of inertial navigation system (INS) and speedometer is an independent positioning system commonly used on military vehicles. The INS attitude accuracy will affect the integrated location accuracy directly. This paper studied the INS error estimation and correction technique based on reference object with laser ranging information. Simulation results show that the method is an effective way to correct the vehicle INS attitude parameters during vehicle driving with ranging information, and can improve the precision of the integrated positioning system.