Non-holonomic Constraints Aided SINS Integration for Autonomous Land Navigation without External Sensors

Strapdown inertial navigation system (SINS) based vehicle weapon system increases great significance in land navigation. In order to obtain considerable navigation performance, SINS based integrated navigation is required to implemented. However, the popular aided sensor such as Global-Positioning-System (GPS) is not regarded as autonomous sensor. The autonomous sensor such as odometer can be also damaged in practical applications. In this paper, we utilize non-holonomic constraints (NHC) to aid SINS without external sensors. The measurements of NHC include zero lateral velocity and zero vertical velocity in vehicle orthogonal reference frame. Then, the close-loop Kalman filter can be implemented for SINS/NHC integrated navigation. The simulation results show that the SINS/NHC integrated navigation can estimate all the error states with specific movements. Moreover, SINS/NHC can achieve considerable position navigation performance. Therefore, the proposed method can realize autonomous land navigation without external sensors.