Grey Theory Based Odometer Scale Factor Calibration Method for Integrated Navigation System

In order to improve the performance of integrated navigation system, the property of odometer navigation and the problem of calibration for odometer scale factor is researched, and a novel odometer calibration method based on the grey theory is proposed in this paper. In this method, the grey model is built and updated with a few real-time or historical sensor data, and in most time in navigating, the calibration will be carried out in the grey prediction approach. Validation with experiment data and simulation demonstrate that the proposed method earns a high accuracy, and efficiency and independent ability of the system are improved with practical application value.