Observability analysis of SINS/odometer integrated navigation

Xiaoyue Zhang; Pengbo Liu; Xiaojing Yi; Chunxi Zhang

doi:10.1109/CGNCC.2014.7007231

Observability analysis of SINS/odometer integrated navigation

Xiaoyue Zhang^*
, Pengbo Liu
, Xiaojing Yi
, Chunxi Zhang

^*Corresponding author for this work

School of Instrumentation and Optoelectronic Engineering

Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

7 Scopus citations

Abstract

An integrated navigation method of strapdown inertial navigation system(SINS) and odometer basing on Kalman filter was introduced. In the integrated navigation, error of SINS, inertial measurement unit(IMU) and odometer could be estimated and compensated online. Based on the integrated navigation measurement equation, together with the combining typical maneuver of land vehicle and error propagating analysis, online estimating and observability analysis of integrated navigation Kalman filter states was carried out, including error states of odometer, IMU and SINS. At last, simulation of SINS/odometer integrated navigation was carried out, and correlated results were presented, by which the observability analysis of filter states was validated.

Original language	English
Title of host publication	2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	148-152
Number of pages	5
ISBN (Electronic)	9781479946990
DOIs	https://doi.org/10.1109/CGNCC.2014.7007231
State	Published - 12 Jan 2015
Event	6th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014 - Yantai, China Duration: 8 Aug 2014 → 10 Aug 2014

Publication series

Name	2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014

Conference

Conference	6th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014
Country/Territory	China
City	Yantai
Period	8/08/14 → 10/08/14

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10.1109/CGNCC.2014.7007231

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Zhang, X., Liu, P., Yi, X., & Zhang, C. (2015). Observability analysis of SINS/odometer integrated navigation. In 2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014 (pp. 148-152). Article 7007231 (2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CGNCC.2014.7007231

@inproceedings{443e4fc2fd1c4318aa30c5d9b002d16b,

title = "Observability analysis of SINS/odometer integrated navigation",

abstract = "An integrated navigation method of strapdown inertial navigation system(SINS) and odometer basing on Kalman filter was introduced. In the integrated navigation, error of SINS, inertial measurement unit(IMU) and odometer could be estimated and compensated online. Based on the integrated navigation measurement equation, together with the combining typical maneuver of land vehicle and error propagating analysis, online estimating and observability analysis of integrated navigation Kalman filter states was carried out, including error states of odometer, IMU and SINS. At last, simulation of SINS/odometer integrated navigation was carried out, and correlated results were presented, by which the observability analysis of filter states was validated.",

author = "Xiaoyue Zhang and Pengbo Liu and Xiaojing Yi and Chunxi Zhang",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 6th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014 ; Conference date: 08-08-2014 Through 10-08-2014",

year = "2015",

month = jan,

day = "12",

doi = "10.1109/CGNCC.2014.7007231",

language = "英语",

series = "2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "148--152",

booktitle = "2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014",

address = "美国",

}

Zhang, X, Liu, P, Yi, X & Zhang, C 2015, Observability analysis of SINS/odometer integrated navigation. in 2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014., 7007231, 2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014, Institute of Electrical and Electronics Engineers Inc., pp. 148-152, 6th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014, Yantai, China, 8/08/14. https://doi.org/10.1109/CGNCC.2014.7007231

Observability analysis of SINS/odometer integrated navigation. / Zhang, Xiaoyue; Liu, Pengbo; Yi, Xiaojing et al.
2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014. Institute of Electrical and Electronics Engineers Inc., 2015. p. 148-152 7007231 (2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Observability analysis of SINS/odometer integrated navigation

AU - Zhang, Xiaoyue

AU - Liu, Pengbo

AU - Yi, Xiaojing

AU - Zhang, Chunxi

PY - 2015/1/12

Y1 - 2015/1/12

N2 - An integrated navigation method of strapdown inertial navigation system(SINS) and odometer basing on Kalman filter was introduced. In the integrated navigation, error of SINS, inertial measurement unit(IMU) and odometer could be estimated and compensated online. Based on the integrated navigation measurement equation, together with the combining typical maneuver of land vehicle and error propagating analysis, online estimating and observability analysis of integrated navigation Kalman filter states was carried out, including error states of odometer, IMU and SINS. At last, simulation of SINS/odometer integrated navigation was carried out, and correlated results were presented, by which the observability analysis of filter states was validated.

AB - An integrated navigation method of strapdown inertial navigation system(SINS) and odometer basing on Kalman filter was introduced. In the integrated navigation, error of SINS, inertial measurement unit(IMU) and odometer could be estimated and compensated online. Based on the integrated navigation measurement equation, together with the combining typical maneuver of land vehicle and error propagating analysis, online estimating and observability analysis of integrated navigation Kalman filter states was carried out, including error states of odometer, IMU and SINS. At last, simulation of SINS/odometer integrated navigation was carried out, and correlated results were presented, by which the observability analysis of filter states was validated.

UR - https://www.scopus.com/pages/publications/84922552553

U2 - 10.1109/CGNCC.2014.7007231

DO - 10.1109/CGNCC.2014.7007231

M3 - 会议稿件

AN - SCOPUS:84922552553

T3 - 2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014

SP - 148

EP - 152

BT - 2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 6th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014

Y2 - 8 August 2014 through 10 August 2014

ER -

Observability analysis of SINS/odometer integrated navigation

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