NDLI: A New Online-Identification Algorithm for Odometer's Scale Factor

Content Provider	IEEE Xplore Digital Library
Author	Zhang Hongliang Wu Wenqi Hu Xiaoping
Copyright Year	2007
Description	Author affiliation: Nat. Univ. of Defense Technol., Changsha (Zhang Hongliang; Wu Wenqi; Hu Xiaoping)
Abstract	A identification in a nonlinear stochastic system - strapdown inertial navigation system is addressed. A new online-identification algorithm of odometer's scale factor is proposed. From zero velocity update (ZUPT), the velocity errors in inertial navigation system propagate in the Schuler loops, and based the slow-varying property of velocity errors, the algorithm identifies the odometer's scale factor using the changes of velocity during a short time. A tracking differentiator and a fadeout memory LMS algorithm is adopted in the identification to make the algorithm more practicable. The algorithm can track the odometer's scale factor varying with time, and therefore be suitable for navigation case in which a vehicle runs a long time and roads vary a lot. Simulation indicates that this new algorithm can identify the odometer's scale factor fast with small errors, so as to improve the accuracy of navigation.
Starting Page	115
Ending Page	119
File Size	699325
Page Count	5
File Format	PDF
ISBN	9787811240559
DOI	10.1109/CHICC.2006.4346806
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-07-26
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Strapdown Inertial Navigation System Mechatronics Automation Laboratories Educational institutions Odometer Scale factor Least squares approximation Global Positioning System Stochastic systems Road vehicles ZUPT Inertial navigation Error correction
Content Type	Text
Resource Type	Article

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