Vehicle model aided inertial navigation

Proceedings of the 2003 IEEE International Conference on Intelligent Transportation Systems Pub Date : 2003-12-19 DOI:10.1109/ITSC.2003.1252637

Xin Ma, S. Sukkarieh, Jonghyuk Kim

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引用次数: 21

Abstract

This paper studies the possibility of improving the accuracy of a low-cost strapdown inertial navigation system mounted on a land vehicle by using a vehicle kinematic model. The inertial navigation system is aided with virtual position measurements, which are predicted by a vehicle kinematic model along with virtual velocity measurements. This data is obtained from the non-holonomic constraints that govern land vehicle motion on a surface. Furthermore, the updated heading information obtained from the INS is used to refine the vehicle kinematic model. Analytic analysis and covariance simulation are carried out for the observability analysis of the aided inertial navigation system. Simulation results prove that the accuracy of the low-grade inertial navigation system aided by a vehicle kinematic model can be considerably improved. The strategies proposed in this paper can be used as a backup navigation loop during outages of GPS for an extended amount of time with the navigation error noticeably bounded. Finally, the redundancy and the integrity of the whole navigation system are also further enhanced.

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车辆模型辅助惯性导航

本文研究了利用车辆运动学模型提高陆地车辆低成本捷联惯性导航系统精度的可能性。惯性导航系统采用虚拟位置测量辅助，虚拟位置测量由车辆运动学模型和虚拟速度测量预测。这些数据是从控制陆地车辆在表面上运动的非完整约束中获得的。此外，利用从惯导系统中获得的更新的航向信息来细化车辆的运动学模型。对辅助惯导系统的可观测性进行了解析分析和协方差仿真。仿真结果表明，在车辆运动学模型的辅助下，低阶惯性导航系统的精度得到了较大的提高。本文提出的策略可以在GPS中断时作为备用导航环路，并且导航误差明显有界。最后，进一步增强了整个导航系统的冗余性和完整性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Proceedings of the 2003 IEEE International Conference on Intelligent Transportation Systems

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