Online calibration and compensation of total odometer error in an integrated system
2018; Elsevier BV; Volume: 123; Linguagem: Inglês
10.1016/j.measurement.2018.03.044
ISSN1873-412X
AutoresLeilei Li, Hongxing Sun, Yang Sheng, Xuewen Ding, Jin Wang, Jiang Jin-long, Xiuhua Pu, Chunhua Ren, Ning Hu, Yongcai Guo,
Tópico(s)GNSS positioning and interference
ResumoOdometer is a good information source for land vehicle navigation because it can detect the velocity or mileage of a vehicle. Odometer scale factor, misalignment, and level arm with inertial measurement unit are the three sources of integration inaccuracy. However, they are difficult to be calibrated using a single procedure as they vary with many factors, such as the environment temperature, loading, and mounting factors. The online calibration method of the total odometer error and the odometer-aided inertial navigation system algorithm based on Coriolis Law were derived in this study. Vehicle test results indicated that the proposed calibration method can perform a good estimation of total odometer error. Navigation accuracy can be improved significantly with the calibrated odometer when the Global Positioning System declares loss-of-lock, which is approximately 1‰ of the mileage.
Referência(s)