SELF-CALIBRATION OF A DIGITAL ODOMETER INTEGRATED WITH A THREE-COMPONENT SINS FOR A LAND VEHICLE

摘要

An invariant scheme for integrating an odometer with a three-component inertial navigation system (SINS) of a land vehicle is considered. The account of non-holonomic constraints and odometer speed along the longitudinal axis of the land vehicle allows within the framework of the Kalman filtering to estimate the scale factor of the odometer and the angles of the discrepancy between the body system of the SINS and the vehicle. The influence of the vehicle movement type on the observability of errors in the odometer scale factor and mismatch angles is considered. The possibility of damping the exponential instability of the vertical channel of the SINS by f the vertical non-holonomic constraint is shown.