Research of SINS/DVL/OD integrated navigation system based on observability analysis

Fei Guo, Ling Xie, Jiabin Chen, Chunlei Song, Shoukun Wang, Huan Yu

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

4 Citations (Scopus)

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.

Original languageEnglish
Title of host publicationProceedings of the 35th Chinese Control Conference, CCC 2016
EditorsJie Chen, Qianchuan Zhao, Jie Chen
PublisherIEEE Computer Society
Pages5368-5373
Number of pages6
ISBN (Electronic)9789881563910
DOIs
Publication statusPublished - 26 Aug 2016
Event35th Chinese Control Conference, CCC 2016 - Chengdu, China
Duration: 27 Jul 201629 Jul 2016

Publication series

NameChinese Control Conference, CCC
Volume2016-August
ISSN (Print)1934-1768
ISSN (Electronic)2161-2927

Conference

Conference35th Chinese Control Conference, CCC 2016
Country/TerritoryChina
CityChengdu
Period27/07/1629/07/16

Keywords

  • Integrated Navigation
  • Kalman Filter
  • Observability Analysis
  • PWCS
  • SVD

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