MIMU filter design for vehicle tracing

In this paper, low cost microinertial measuring unit (MIMU) is designed for vehicle navigation application. Various navigation update equations are developed for locating and tracing the vehicle. Since low cost MIMU being larger bias and shift, strap-down inertial navigation system(SINS) has quickly accumulated some error and alone odometer velocity can not yield good results, zero constant velocity-down and horizontal direction constraint are argument to make the three-direction measurement model. Unscented Kalman filter (UKF) used the information from odometer and navigation parameter was proposed. Matlab simulation results indicate that the proposed method can effectively restraint the error, and continuous positioning and tracing distance can reach up to 1km. So this method can meet the vehicle tracing and location during vehicle travelling in tunnel and other place where the GPS data information can´t be received.