Performance Investigation of SINS/Odometer/NHC using Sequential Integrated Measurements
Keywords:
Accelerometer, Extended Kalman Filter, GPS, GNSS, Gyroscope, Kalman Filter, Inertial Navigation system, OdometerAbstract
The Strap-down inertial navigation system (SINS) has got excellent short term accuracy and is widely used for several autonomous land vehicle applications. However, due to its dead-reckoning process, the errors in navigation solution accumulate exponentially as the time progresses. In order to mitigate these errors, the use of auxiliary sensors has been explored in the recent past. An attempt has been made in this manuscript to use vehicle-borne odometer as an aiding sensor to have improved navigational positioning accuracy in horizontal and vertical channels of SINS. Further, the odometer misalignment angles and its lever-arm parameters are considered as error state vectors and a 21-state extended Kalman filter (EKF) is devised. Pulse count per unit sample interval is pre-processed to generate velocity information in odometer sensor assembly frame and used as measurement along with non-holonomic constraints (NHC). The efficacy of the proposed method is investigated by sequential processing of the measurements through sequential version of EKF. Field trial results are presented and found to have improvement through incremental position as a measurement in odometer sensor frame with improved observability during estimation process of odometer scale factor and lever arm parameters. Further, the accuracy of estimated altitude along with horizontal position solution is demonstrated toward autonomous vehicle application with GNSS as a reference.
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