Online calibration and compensation of total odometer error in an integrated system

Leilei Li; Hongxing Sun; Sheng Yang; Xuewen Ding; Jin Wang; Jinlong Jiang; Xiuhua Pu; Chunhua Ren; Ning Hu; Yongcai Guo

doi:10.1016/j.measurement.2018.03.044

Online calibration and compensation of total odometer error in an integrated system

Leilei Li^*, Hongxing Sun, Sheng Yang, Xuewen Ding, Jin Wang, Jinlong Jiang, Xiuhua Pu, Chunhua Ren, Ning Hu, Yongcai Guo

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

47 Citations (Scopus)

Abstract

Odometer is a good information source for land vehicle navigation because it can detect the velocity or mileage of a vehicle. Odometer scale factor, misalignment, and level arm with inertial measurement unit are the three sources of integration inaccuracy. However, they are difficult to be calibrated using a single procedure as they vary with many factors, such as the environment temperature, loading, and mounting factors. The online calibration method of the total odometer error and the odometer-aided inertial navigation system algorithm based on Coriolis Law were derived in this study. Vehicle test results indicated that the proposed calibration method can perform a good estimation of total odometer error. Navigation accuracy can be improved significantly with the calibrated odometer when the Global Positioning System declares loss-of-lock, which is approximately 1‰ of the mileage.

Original language	English
Pages (from-to)	69-79
Number of pages	11
Journal	Measurement: Journal of the International Measurement Confederation
Volume	123
DOIs	https://doi.org/10.1016/j.measurement.2018.03.044
Publication status	Published - Jul 2018
Externally published	Yes

Keywords

Error calibration
INS
Integrated navigation
Odometer

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10.1016/j.measurement.2018.03.044

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Li, L., Sun, H., Yang, S., Ding, X., Wang, J., Jiang, J., Pu, X., Ren, C., Hu, N., & Guo, Y. (2018). Online calibration and compensation of total odometer error in an integrated system. Measurement: Journal of the International Measurement Confederation, 123, 69-79. https://doi.org/10.1016/j.measurement.2018.03.044

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title = "Online calibration and compensation of total odometer error in an integrated system",

abstract = "Odometer is a good information source for land vehicle navigation because it can detect the velocity or mileage of a vehicle. Odometer scale factor, misalignment, and level arm with inertial measurement unit are the three sources of integration inaccuracy. However, they are difficult to be calibrated using a single procedure as they vary with many factors, such as the environment temperature, loading, and mounting factors. The online calibration method of the total odometer error and the odometer-aided inertial navigation system algorithm based on Coriolis Law were derived in this study. Vehicle test results indicated that the proposed calibration method can perform a good estimation of total odometer error. Navigation accuracy can be improved significantly with the calibrated odometer when the Global Positioning System declares loss-of-lock, which is approximately 1‰ of the mileage.",

keywords = "Error calibration, INS, Integrated navigation, Odometer",

author = "Leilei Li and Hongxing Sun and Sheng Yang and Xuewen Ding and Jin Wang and Jinlong Jiang and Xiuhua Pu and Chunhua Ren and Ning Hu and Yongcai Guo",

note = "Publisher Copyright: {\textcopyright} 2018 Elsevier Ltd",

year = "2018",

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doi = "10.1016/j.measurement.2018.03.044",

language = "English",

volume = "123",

pages = "69--79",

journal = "Measurement: Journal of the International Measurement Confederation",

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T1 - Online calibration and compensation of total odometer error in an integrated system

AU - Li, Leilei

AU - Sun, Hongxing

AU - Yang, Sheng

AU - Ding, Xuewen

AU - Wang, Jin

AU - Jiang, Jinlong

AU - Pu, Xiuhua

AU - Ren, Chunhua

AU - Hu, Ning

AU - Guo, Yongcai

PY - 2018/7

Y1 - 2018/7

N2 - Odometer is a good information source for land vehicle navigation because it can detect the velocity or mileage of a vehicle. Odometer scale factor, misalignment, and level arm with inertial measurement unit are the three sources of integration inaccuracy. However, they are difficult to be calibrated using a single procedure as they vary with many factors, such as the environment temperature, loading, and mounting factors. The online calibration method of the total odometer error and the odometer-aided inertial navigation system algorithm based on Coriolis Law were derived in this study. Vehicle test results indicated that the proposed calibration method can perform a good estimation of total odometer error. Navigation accuracy can be improved significantly with the calibrated odometer when the Global Positioning System declares loss-of-lock, which is approximately 1‰ of the mileage.

AB - Odometer is a good information source for land vehicle navigation because it can detect the velocity or mileage of a vehicle. Odometer scale factor, misalignment, and level arm with inertial measurement unit are the three sources of integration inaccuracy. However, they are difficult to be calibrated using a single procedure as they vary with many factors, such as the environment temperature, loading, and mounting factors. The online calibration method of the total odometer error and the odometer-aided inertial navigation system algorithm based on Coriolis Law were derived in this study. Vehicle test results indicated that the proposed calibration method can perform a good estimation of total odometer error. Navigation accuracy can be improved significantly with the calibrated odometer when the Global Positioning System declares loss-of-lock, which is approximately 1‰ of the mileage.

KW - Error calibration

KW - INS

KW - Integrated navigation

KW - Odometer

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JO - Measurement: Journal of the International Measurement Confederation

JF - Measurement: Journal of the International Measurement Confederation

ER -

Online calibration and compensation of total odometer error in an integrated system

Abstract

Keywords

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