Title :
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
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;
Conference_Titel :
Guidance, Navigation and Control Conference (CGNCC), 2014 IEEE Chinese
Conference_Location :
Yantai
Print_ISBN :
978-1-4799-4700-3
DOI :
10.1109/CGNCC.2014.7007231
