Abstract
The accuracy of SINS/GPS-compass will be decreased gradually when GPS is unavailable for a long time. Odometer is commonly used in land vehicles, its measurement of vehicle velocity can be integrated into SINS/GPS-compass to inhibit the divergence of SINS errors when GPS is unavailable. The SINS/Odometer/GPS-compass integrated navigation system is designed, and information filter is used to fuse these sensors data. The SINS/odometer/GPS-compass system is implemented based on the PC/104 hardware architecture and modular software architecture. The actual experiments have shown that SINS/Odometer/GPS-compass system can inhibit the divergence of SINS errors, maintaining smaller error level than SINS/GPS only, especially during long GPS outages. Those prove that this system is effective and practical.
| Original language | English |
|---|---|
| Pages (from-to) | 686-691 |
| Number of pages | 6 |
| Journal | Xi Tong Gong Cheng Yu Dian Zi Ji Shu/Systems Engineering and Electronics |
| Volume | 30 |
| Issue number | 4 |
| Publication status | Published - Apr 2008 |
| Externally published | Yes |
Keywords
- GPS compass
- Information filter
- Integrated navigation system
- Odometer
- Strapdown inertial navigation system