TY - GEN
T1 - The algorithm of MIMU/odometer integrated navigation system aided by nonholonomic constraints
AU - Peng, Shi
AU - Xuan, Xiao
N1 - Publisher Copyright:
© 2013 IEEE.
PY - 2013
Y1 - 2013
N2 - The navigation precision drops rapidly when MIMU (Micro Inertial Measurement Unit) works alone. Odometer data are easy to get on land vehicle, but the performance of integration system of MIMU/odometer is not enhanced obviously. In this work, a novel method is designed using nonholonomic constraints. When vehicle travels without slide and jump, the velocity in the plane perpendicular to forward direction is zero, as well as acceleration. Taking velocity constraint and acceleration constraint as measurement value, new measurement models are established. Integrated navigation algorithm is designed with the help of Kalman filter. With this method, the position error is 150m after 600s, and heading attitude error is 0.1°, comparing the result that the position error expands to 300m after 150s only aided by odometer.
AB - The navigation precision drops rapidly when MIMU (Micro Inertial Measurement Unit) works alone. Odometer data are easy to get on land vehicle, but the performance of integration system of MIMU/odometer is not enhanced obviously. In this work, a novel method is designed using nonholonomic constraints. When vehicle travels without slide and jump, the velocity in the plane perpendicular to forward direction is zero, as well as acceleration. Taking velocity constraint and acceleration constraint as measurement value, new measurement models are established. Integrated navigation algorithm is designed with the help of Kalman filter. With this method, the position error is 150m after 600s, and heading attitude error is 0.1°, comparing the result that the position error expands to 300m after 150s only aided by odometer.
KW - Integrated navigation
KW - Land vehicle navigation
KW - MIMU
KW - Nonholonomic constraints
UR - http://www.scopus.com/inward/record.url?scp=84918588704&partnerID=8YFLogxK
U2 - 10.1109/MEC.2013.6885111
DO - 10.1109/MEC.2013.6885111
M3 - Conference contribution
AN - SCOPUS:84918588704
T3 - Proceedings - 2013 International Conference on Mechatronic Sciences, Electric Engineering and Computer, MEC 2013
SP - 452
EP - 455
BT - Proceedings - 2013 International Conference on Mechatronic Sciences, Electric Engineering and Computer, MEC 2013
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2013 International Conference on Mechatronic Sciences, Electric Engineering and Computer, MEC 2013
Y2 - 20 December 2013 through 22 December 2013
ER -