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INS/Odometer Land Navigation by Accurate Measurement Modeling and Multiple-Model Adaptive Estimation

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Document pages: 16 pages

Abstract: Land vehicle navigation based on inertial navigation system (INS) andodometers is a classical autonomous navigation application and has beenextensively studied over the past several decades. In this work, we seriouslyanalyze the error characteristics of the odometer (OD) pulses and investigatethree types of odometer measurement models in the INS OD integrated system.Specifically, in the pulse velocity model, a preliminary Kalman filter isdesigned to obtain accurate vehicle velocity from the accumulated pulses; thepulse increment model is accordingly obtained by integrating the pulsevelocity; a new pulse accumulation model is proposed by augmenting thetravelled distance into the system state. The three types of measurements,along with the nonhonolomic constraint (NHC), are implemented in the standardextended Kalman filter. In view of the motion-related pulse errorcharacteristics, the multiple model adaptive estimation (MMAE) approach isexploited to further enhance the performance. Simulations and long-distanceexperiments are conducted to verify the feasibility and effectiveness of theproposed methods. It is shown that the standard pulse velocity measurementachieves the superior performance, whereas the accumulated pulse measurement ismost favorable with the MMAE enhancement.

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