NDLI: Automatic calibration and in-motion alignment of an odometer-aided INS

Content Provider	IEEE Xplore Digital Library
Author	Wang Qingzhe Fu Mengyin Xiao Xuan Deng Zhihong
Copyright Year	2012
Description	Author affiliation: School of Automation, Beijing Institute of Technology, Beijing 100081, P.R. China (Wang Qingzhe; Fu Mengyin; Xiao Xuan; Deng Zhihong)
Abstract	In-motion alignment problem has been regarded as a challenging problem for years in the extensive study on inertial navigation systems (INS's). In this contribution, the problem of odometer-aided in-motion alignment is investigated, where the nonholonomic constraints are efficiently employed in the designed Kalman filtering process with the measured data provided by a calibrated odometer. As the application of odometer under nonholonomic constraints requires the INS body axes to be well aligned with the vehicle body frame (VBF), INS-to-VBF alignment and calibration of odometer's scale factor are implemented in the INS/Odometer integration. To the end of in-motion alignment, the system and measurement equations for INS/Odometer integration are derived to construct a Kalman filter, which is used to process the integrated velocity information and then to obtain estimates of both odometer error states and INS error states. With these parameter estimates, the odometer outputs can be calibrated properly, which makes the in-motion alignment implementable and practical. The effectiveness of the proposed method is tested through ground based navigation experiments.
Starting Page	2024
Ending Page	2028
File Size	286569
Page Count	5
File Format	PDF
ISBN	9781467325813
ISSN	21612927
e-ISBN	9789881563811
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-07-25
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Chinese Assoc of Automati
Subject Keyword	Accuracy Navigation Kalman Filter INS-to-VBF Alignment Measurement uncertainty In-motion Alignment Mathematical model Kalman filters Inertial Navigation System Equations Vehicles
Content Type	Text
Resource Type	Article

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