Integrated navigation method for SINS and odometer

In order to complete independent navigation for land vehicle, integration of strapdown inertial navigation system (SINS) and odometer was realized based on Kalman filter. Odometer error model was proposed, which was associated with inertial measurement unit (IMU) error model and INS error model, and error model of integration system was established. SINS/odometer integration navigation observation model was established, the compensation method of error estimation was described. The integrated navigation method was validated in a simulation, the simulation results indicate that: in the process of integrated navigation, initial error of attitude could be estimated, and attitude error and position error retained in a certain range, navigation precision was improved compared with the traditional dead-reckoning algorithm, and independent high accuracy position and attitude determination was obtained.