Vehicle dynamic model-based integrated navigation system for land vehicles

This paper examines the significant role played by vehicle dynamic model and its impact on the performance increase of inertial navigation systems for land vehicles. The pure inertial navigation system is suffered from the time relevant drifts of all navigation parameters that cannot be chosen as the sole navigation system for the land vehicles. And the complementary role played by the vehicle dynamic model should be studied thoroughly that it can be integrated to an inertial navigation system to compose an autonomous navigation system for land vehicles. This kind of navigation systems take advantage of the vehicle dynamic model to build a navigation filter whose observation information comes from the model outputs. It is concerned that the relationship between the body frame velocity reference information and the observability of the filter error state is vital to the effect of increasing navigation accuracy. According to the observability analysis, a series of land vehicle maneuver trajectories are helpful to increase the observability degree of some error states. Experiments were carried in a close loop trajectory. It is shown from the results that changing land vehicle's attitude angle yaw is helpful for eliminating the estimate errors of the velocity. And the position error can also be compensated after the velocity error is estimated correctly.