@inproceedings{b2b8474d62e7409bb003adc8e320bf55,
title = "Research of SINS/DVL/OD integrated navigation system based on observability analysis",
abstract = "In order to amplify the effective field of vehicle navigation, and overcome the obstacles such as poor road condition and bad weather, the SINS (Strap-down Inertial Navigation System) /DVL (Doppler Velocity Log) /OD (Odometer) integrated navigation technology is proposed. PWCS theory and SVD (singular value decomposition) are used to analyze observability of this integrated navigation system. In the process of S maneuver simulation, we contrast the calculating error between the integrated navigation and singular SINS through the Kalman filtering algorithm. The filtering result of integrated navigation is more similar to actual result than a pure SINS system. Finally, we compare the result of Kalman filter to that of observability analysis, it is concluded the method that the observable degree of the system states can be judged only by the SVD of the observability matrix is theoretically deficient.",
keywords = "Integrated Navigation, Kalman Filter, Observability Analysis, PWCS, SVD",
author = "Fei Guo and Ling Xie and Jiabin Chen and Chunlei Song and Shoukun Wang and Huan Yu",
note = "Publisher Copyright: {\textcopyright} 2016 TCCT.; 35th Chinese Control Conference, CCC 2016 ; Conference date: 27-07-2016 Through 29-07-2016",
year = "2016",
month = aug,
day = "26",
doi = "10.1109/ChiCC.2016.7554191",
language = "English",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "5368--5373",
editor = "Jie Chen and Qianchuan Zhao and Jie Chen",
booktitle = "Proceedings of the 35th Chinese Control Conference, CCC 2016",
address = "United States",
}