Study on Application of Zero-Velocity Update Technology to Tracked Vehicle Inertial Navigation

Tracked vehicle navigation technology provides an important guarantee for military and civilian tracked vehicles to perform their tasks. In this paper, the zero-velocity update technology (ZUPT) is used to optimize the inertial navigation algorithm of the crawler and improve the navigation accuracy based on the motion constraints of the crawler. Through uphill & downhill experiment, it is verified that the optimized zero-velocity detection algorithm has better detection effect. The closed-loop experiment proves that the ZUPT can effectively suppress the navigation errors of the tracked vehicle, and combined with the zero-angular-rate update technology (ZARU) can achieve higher navigation accuracy.