@inproceedings{e2878f412b8a48f4abab47986c93621b,
title = "An on-line calibration method of SINS/odometer integrated navigation system",
abstract = "Considering the key factors that affect the precision of strapdown inertial navigation system (SINS) and odometer integrated navigation system, an on-line calibration method based on Kalman filter aided by odometer is proposed. Dead reckoning (DR) algorithm and DR error model including odometer scale factor and odometer installation errors are given. Based on the error model, a closed-loop Kalman filter is designed to estimate odometer scale factor error, odometer installation errors, gyroscope drifts and accelerometer biases, and then improve the horizontal position precision. Finally, the simulation of SINS/odometer integrated navigation is carried out. Correlated results show that current parameters including odometer scale factor and odometer installation can be estimated on the base of former parameters, and compared with the horizontal position calculated by dead reckoning algorithm, the proposing method exerts a higher horizontal position precision, which sufficiently verifies the validity of proposing method.",
keywords = "Dead reckoning, Kalman filter, Odometer, On-line calibration, Strapdown inertial navigation system",
author = "Yiding Sun and Gongliu Yang and Qingzhong Cai and Suier Wang",
note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 4th International Conference on Information Science and Control Engineering, ICISCE 2017 ; Conference date: 21-07-2017 Through 23-07-2017",
year = "2017",
month = nov,
day = "14",
doi = "10.1109/ICISCE.2017.180",
language = "英语",
series = "Proceedings - 2017 4th International Conference on Information Science and Control Engineering, ICISCE 2017",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "847--851",
editor = "Ying Dai and Shaozi Li and Yun Cheng",
booktitle = "Proceedings - 2017 4th International Conference on Information Science and Control Engineering, ICISCE 2017",
address = "美国",
}