Research on Integrated Navigation System Based on Strapdown Inertial Component/Odometer

Aiming at the difficult problems of the accuracy of vehicle strapdown inertial navigation/odometer combination navigation over time and the divergence of mileage errors, this paper analyzes how to quickly calibrate the odometer scale factor and inertial component installation error angle and compensation technology. A Kalman filtering technology is proposed for odometer combination navigation, odometer scale coefficient, and inertial system installation error calibration in complex road environments, which meets the mutual correction of inertial component navigation and odometer tight combination, improves the accuracy of system positioning, attitude, and attitude update rate. The simulation results show that using tight combination can effectively estimate and correct position and attitude errors. The experimental results verify that the combined navigation method is superior to the traditional dead reckoning loose combination method and can effectively achieve the accuracy of the inertial navigation system.