Odometer aided in-motion alignment based on strong tracking filter for land vehicles

Wenshao Gao; Xuan Xiao; Songtian Shang; Zhihong Deng

doi:10.1109/ICICEE.2012.398

Odometer aided in-motion alignment based on strong tracking filter for land vehicles

Wenshao Gao^*
, Xuan Xiao
, Songtian Shang
, Zhihong Deng

^*Corresponding author for this work

School of Automation

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Citation (Scopus)

Abstract

In-motion alignment of strap-down inertial navigation system (SINS) for land use is researched in this paper. Alignment process is accomplished in 10 minutes by using the information from a combined odometer whose installation angles from vehicle body frame (VBF) to INS body frame is not calibrated. The difference of the SINS velocity result and the odometer measured velocity projected to navigation coordinate is taken as the measurement for the filter. Focusing on the problem that the statistic property of measurement noise is vague causing by the installation angles and the inconstant scale factor error of odometer, a strong tracking kalman filter (STKF) is employed and designed in the in-motion alignment of the SINS/OD integration navigation system. The experiment result shows that compared with traditional kalman filter (KF), STKF has faster convergence speed and higher accuracy, particularly in azimuth error improved greatly.

Original language	English
Title of host publication	Proceedings of the 2012 International Conference on Industrial Control and Electronics Engineering, ICICEE 2012
Pages	1514-1517
Number of pages	4
DOIs	https://doi.org/10.1109/ICICEE.2012.398
Publication status	Published - 2012
Event	2012 International Conference on Industrial Control and Electronics Engineering, ICICEE 2012 - Xi'an, China Duration: 23 Aug 2012 → 25 Aug 2012

Publication series

Name	Proceedings of the 2012 International Conference on Industrial Control and Electronics Engineering, ICICEE 2012

Conference

Conference	2012 International Conference on Industrial Control and Electronics Engineering, ICICEE 2012
Country/Territory	China
City	Xi'an
Period	23/08/12 → 25/08/12

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 15 Life on Land

Keywords

SINS
in-motion alignment
odometer aided
strong track filter

Access to Document

10.1109/ICICEE.2012.398

Cite this

Gao, W., Xiao, X., Shang, S., & Deng, Z. (2012). Odometer aided in-motion alignment based on strong tracking filter for land vehicles. In Proceedings of the 2012 International Conference on Industrial Control and Electronics Engineering, ICICEE 2012 (pp. 1514-1517). Article 6322688 (Proceedings of the 2012 International Conference on Industrial Control and Electronics Engineering, ICICEE 2012). https://doi.org/10.1109/ICICEE.2012.398

Gao, Wenshao ; Xiao, Xuan ; Shang, Songtian et al. / Odometer aided in-motion alignment based on strong tracking filter for land vehicles. Proceedings of the 2012 International Conference on Industrial Control and Electronics Engineering, ICICEE 2012. 2012. pp. 1514-1517 (Proceedings of the 2012 International Conference on Industrial Control and Electronics Engineering, ICICEE 2012).

@inproceedings{ad677014f55c4a218b1554c5c605e16c,

title = "Odometer aided in-motion alignment based on strong tracking filter for land vehicles",

abstract = "In-motion alignment of strap-down inertial navigation system (SINS) for land use is researched in this paper. Alignment process is accomplished in 10 minutes by using the information from a combined odometer whose installation angles from vehicle body frame (VBF) to INS body frame is not calibrated. The difference of the SINS velocity result and the odometer measured velocity projected to navigation coordinate is taken as the measurement for the filter. Focusing on the problem that the statistic property of measurement noise is vague causing by the installation angles and the inconstant scale factor error of odometer, a strong tracking kalman filter (STKF) is employed and designed in the in-motion alignment of the SINS/OD integration navigation system. The experiment result shows that compared with traditional kalman filter (KF), STKF has faster convergence speed and higher accuracy, particularly in azimuth error improved greatly.",

keywords = "SINS, in-motion alignment, odometer aided, strong track filter",

author = "Wenshao Gao and Xuan Xiao and Songtian Shang and Zhihong Deng",

year = "2012",

doi = "10.1109/ICICEE.2012.398",

language = "English",

isbn = "9780769547923",

series = "Proceedings of the 2012 International Conference on Industrial Control and Electronics Engineering, ICICEE 2012",

pages = "1514--1517",

booktitle = "Proceedings of the 2012 International Conference on Industrial Control and Electronics Engineering, ICICEE 2012",

note = "2012 International Conference on Industrial Control and Electronics Engineering, ICICEE 2012 ; Conference date: 23-08-2012 Through 25-08-2012",

}

Gao, W, Xiao, X, Shang, S & Deng, Z 2012, Odometer aided in-motion alignment based on strong tracking filter for land vehicles. in Proceedings of the 2012 International Conference on Industrial Control and Electronics Engineering, ICICEE 2012., 6322688, Proceedings of the 2012 International Conference on Industrial Control and Electronics Engineering, ICICEE 2012, pp. 1514-1517, 2012 International Conference on Industrial Control and Electronics Engineering, ICICEE 2012, Xi'an, China, 23/08/12. https://doi.org/10.1109/ICICEE.2012.398

Odometer aided in-motion alignment based on strong tracking filter for land vehicles. / Gao, Wenshao; Xiao, Xuan; Shang, Songtian et al.
Proceedings of the 2012 International Conference on Industrial Control and Electronics Engineering, ICICEE 2012. 2012. p. 1514-1517 6322688 (Proceedings of the 2012 International Conference on Industrial Control and Electronics Engineering, ICICEE 2012).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Odometer aided in-motion alignment based on strong tracking filter for land vehicles

AU - Gao, Wenshao

AU - Xiao, Xuan

AU - Shang, Songtian

AU - Deng, Zhihong

PY - 2012

Y1 - 2012

N2 - In-motion alignment of strap-down inertial navigation system (SINS) for land use is researched in this paper. Alignment process is accomplished in 10 minutes by using the information from a combined odometer whose installation angles from vehicle body frame (VBF) to INS body frame is not calibrated. The difference of the SINS velocity result and the odometer measured velocity projected to navigation coordinate is taken as the measurement for the filter. Focusing on the problem that the statistic property of measurement noise is vague causing by the installation angles and the inconstant scale factor error of odometer, a strong tracking kalman filter (STKF) is employed and designed in the in-motion alignment of the SINS/OD integration navigation system. The experiment result shows that compared with traditional kalman filter (KF), STKF has faster convergence speed and higher accuracy, particularly in azimuth error improved greatly.

AB - In-motion alignment of strap-down inertial navigation system (SINS) for land use is researched in this paper. Alignment process is accomplished in 10 minutes by using the information from a combined odometer whose installation angles from vehicle body frame (VBF) to INS body frame is not calibrated. The difference of the SINS velocity result and the odometer measured velocity projected to navigation coordinate is taken as the measurement for the filter. Focusing on the problem that the statistic property of measurement noise is vague causing by the installation angles and the inconstant scale factor error of odometer, a strong tracking kalman filter (STKF) is employed and designed in the in-motion alignment of the SINS/OD integration navigation system. The experiment result shows that compared with traditional kalman filter (KF), STKF has faster convergence speed and higher accuracy, particularly in azimuth error improved greatly.

KW - SINS

KW - in-motion alignment

KW - odometer aided

KW - strong track filter

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DO - 10.1109/ICICEE.2012.398

M3 - Conference contribution

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SN - 9780769547923

T3 - Proceedings of the 2012 International Conference on Industrial Control and Electronics Engineering, ICICEE 2012

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BT - Proceedings of the 2012 International Conference on Industrial Control and Electronics Engineering, ICICEE 2012

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Gao W, Xiao X, Shang S, Deng Z. Odometer aided in-motion alignment based on strong tracking filter for land vehicles. In Proceedings of the 2012 International Conference on Industrial Control and Electronics Engineering, ICICEE 2012. 2012. p. 1514-1517. 6322688. (Proceedings of the 2012 International Conference on Industrial Control and Electronics Engineering, ICICEE 2012). doi: 10.1109/ICICEE.2012.398

Odometer aided in-motion alignment based on strong tracking filter for land vehicles

Abstract

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UN SDGs

Keywords

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