Inertial navigation algorithm aided by motion constraints of vehicle
Wang Hai-ming · Journal of Chinese Inertial Technology · 2012
In order to improve the independent navigation accuracy of vehicular SINS and enhance the mobility of the car,the integrated navigation method aided by the motion constraints of the vehicle was adopted.By making use of the condition that the cross-track and vertical velocity of the normal running vehicle were zero,and taking the installation errors of SINS into consideration,the Kalman filter algorithm was deduced,the vehicular navigation experiment for about 80 km was implemented.The results show that the level positioning precision was 16.6 m(CEP) and the altitude precision was 14.9 m(PE).This method can be used as a backup navigation strategy to be used when the odometer was invalidated,and can also be used to extend the interval time of stopping car in ZUPT(zero-velocity update) mode.