High accuracy algorithm for SINS/odometer integrated navigation system

被引：0

作者：

Zhao, Hong-Song ^{[1
,2
]}

Miao, Ling-Juan ^{[1
]}

Shen, Jun ^{[1
]}

机构：

[1] School of Automation, Beijing Institute of Technology

[2] No.94032 Troops of PLA, Wuwei 733003, Gansu

来源：

Binggong Xuebao/Acta Armamentarii | 2014年 / 35卷 / 04期

关键词：

Control science and technology; Fault detection; Installation error; Odometer; Scale factor error; Strapdown inertial navigation system;

D O I：

10.3969/j.issn.1000-1093.2014.04.001

中图分类号：

V355 [空中管制与飞行调度];

学科分类号：

摘要：

To solve the problems induced by the scale factor error of odometer (OD) and the installation error of inertial measurement unit in the vehicle strapdown inertial navigation system (SINS)/OD integrated navigation system, a SINS/OD integrated navigation algorithm is proposed, in which a new measurement equation is established and a fault detection method is introduced. This algorithm can effectively improve the navigation accuracy, and accurately detect the fault in time. It can also be suitable for the navigation mode aided by vehicle kinematics constraints to provide a fault-tolerant scheme for OD fault. The simulation results show that the algorithm is effective.

引用

页码：433 / 440

页数：7

共 19 条

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