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

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

科研成果: 书/报告/会议事项章节会议稿件同行评审

4 引用 (Scopus)

摘要

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.

源语言英语
主期刊名Proceedings of the 35th Chinese Control Conference, CCC 2016
编辑Jie Chen, Qianchuan Zhao, Jie Chen
出版商IEEE Computer Society
5368-5373
页数6
ISBN(电子版)9789881563910
DOI
出版状态已出版 - 26 8月 2016
活动35th Chinese Control Conference, CCC 2016 - Chengdu, 中国
期限: 27 7月 201629 7月 2016

出版系列

姓名Chinese Control Conference, CCC
2016-August
ISSN(印刷版)1934-1768
ISSN(电子版)2161-2927

会议

会议35th Chinese Control Conference, CCC 2016
国家/地区中国
Chengdu
时期27/07/1629/07/16

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引用此

Guo, F., Xie, L., Chen, J., Song, C., Wang, S., & Yu, H. (2016). Research of SINS/DVL/OD integrated navigation system based on observability analysis. 在 J. Chen, Q. Zhao, & J. Chen (编辑), Proceedings of the 35th Chinese Control Conference, CCC 2016 (页码 5368-5373). 文章 7554191 (Chinese Control Conference, CCC; 卷 2016-August). IEEE Computer Society. https://doi.org/10.1109/ChiCC.2016.7554191