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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...
Low-cost strapdown inertial navigation system (SINS) cannot implement high-precision alignment by itself on stationary base, meanwhile, devices errors are hard to be estimated. Focusing on above, double-antenna GPS/SINS integrated initial alignment Kalman filter is established. On conditions of pitch/yaw and roll/yaw (double-antenna GPS output), observability of system and devices errors are quantitatively...
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