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 | |
| Publication status | Published - Jul 2018 |
| Externally published | Yes |
Keywords
- Error calibration
- INS
- Integrated navigation
- Odometer