High accuracy navigation algorithm for tightly coupled INS/odometer

According to the integrated navigation system which consists of inertial navigation system (INS) and odometer, the cross calibration of INS and odometer were achieved by estimating the biases of inertial sensors, scale factor of odometer, and attitude error between INS and odometer in real-time. The above tasks were resolved by a closed-loop Kalman filter, which can easily use the estimates to compensate INS and odometer. An integrated supervisory system was constructed to detect and isolate the bad data when a vehicle run in a complex environment. It helps to improve the accuracy of navigation system.