Accuracy Analysis of SINS/OD Integrated Navigation under Different Combination Models
ZHANG Guangjun
HU Baiqing
CHANG Lubin
XUE Boyang
Abstract：In the integrated navigation of strapdown inertial navigation and odometry,there are problems such as large differ?ences in calculation amount and accuracy in the combination model constructed based on different observational measurements and filtering algorithms,and they are based on the velocity observation model and the position-based observation respectively. The mod?el composed by the model is a theoretical derivation,filtering algorithm design and performance comparison analysis. In the sports car experiment,the advantages and disadvantages of the four combined models in terms of accuracy,etc. are compared. The results show that the open-loop correction model in the speed combination mode has the best correction effect for attitude errors and speed errors. The estimation result of position estimation is the same as that of attitude and speed. The results of the study can be used as a reference for the selection of the basic model for integrated navigation of inertial navigation and odometry.
Keywords：integrated navigationstrapdown inertial navigation systemodometerkalman filter
Publication Date：2019-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：6( 37-42 )