GPS/INS/Odometer integrated navigation algorithm with prior velocity in land vehicle system

被引：0
|
作者：
Wu F.-M. [1 ,2 ]
Yang Y.-X. [2 ]
机构：
[1] Institute of Surveying and Mapping, Information Engineering University
[2] Xi'an Research Institute of Surveying and Mapping
来源：
Yuhang Xuebao/Journal of Astronautics | 2010年 / 31卷 / 10期
关键词：
GPS/INS; Integrated navigation; Odometer; Prior velocity;
D O I：
10.3873/j.issn.1000-1328.2010.10.013
中图分类号：
学科分类号：
摘要：
When GPS outages occur in a land vehicle navigation system, INS navigation error will be cumulated quickly. In this paper, the Odometer observations are added to the measurement equation to improve the system observability and navigation accuracy based on prior velocity. And a new method is implemented for position modification. By calculation, it is shown that compared with INS navigation, the velocity accuracy is improved with prior velocity. And with applying the new position modification method, the position accuracy is improved greatly. After the Odometer observations are added to the measurement equation, both position accuracy and velocity accuracy are improved further.
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收藏
页码：2314 / 2320
页数：6
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