【摘 要】
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An integrated navigation method of strapdown inertial navigation system(SINS) and odometer basing on Kalman filter was introduced.In the integrated navigation,e
【出 处】
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2014中国制导、导航与控制学术会议
论文部分内容阅读
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.
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