TY - GEN
T1 - Nonholonomic constrained navigation algorithm for MIMU/odometer integration
AU - Li, He
AU - Xiao, Xuan
AU - Wang, Bo
AU - Deng, Zhihong
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/11/14
Y1 - 2014/11/14
N2 - This Paper applies nonholonomic constrained filter model problems to the Micro Inertial Measurement Unit (MIMU)/Odometer integrated system when the vehicle is in the normal running conditions. In the velocity equation, the acceleration of vehicle is relative to the Earth Centered Earth Fixed (ECEF) frame. It is often decomposed into the navigation frame and it can also be decomposed into the body frame in order to extract the proper measurement quantities of nonholonomic constrain from odometer, gyroscopes and accelerometers. This constrain can be utilized to improve the observation equations in the error model equations. The practicality of this method is tested in the vehicle test. The performance of the improved system shows that the use of nonholonomic constrains can get better navigation accuracy than the method which only uses odometer distance increment.
AB - This Paper applies nonholonomic constrained filter model problems to the Micro Inertial Measurement Unit (MIMU)/Odometer integrated system when the vehicle is in the normal running conditions. In the velocity equation, the acceleration of vehicle is relative to the Earth Centered Earth Fixed (ECEF) frame. It is often decomposed into the navigation frame and it can also be decomposed into the body frame in order to extract the proper measurement quantities of nonholonomic constrain from odometer, gyroscopes and accelerometers. This constrain can be utilized to improve the observation equations in the error model equations. The practicality of this method is tested in the vehicle test. The performance of the improved system shows that the use of nonholonomic constrains can get better navigation accuracy than the method which only uses odometer distance increment.
UR - http://www.scopus.com/inward/record.url?scp=84937152132&partnerID=8YFLogxK
U2 - 10.1109/ITSC.2014.6958081
DO - 10.1109/ITSC.2014.6958081
M3 - Conference contribution
AN - SCOPUS:84937152132
T3 - 2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014
SP - 2440
EP - 2445
BT - 2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014
Y2 - 8 October 2014 through 11 October 2014
ER -