Versatile Land Navigation Using Inertial Sensors and Odometry: Self-calibration, In-motion Alignment and Positioning

摘要

Inertial measurement unit (IMU) and odometer have been commonly-used sensorsfor autonomous land navigation in the global positioning system (GPS)-deniedscenarios. This paper systematically proposes a versatile strategy forself-contained land vehicle navigation using the IMU and an odometer.Specifically, the paper proposes a self-calibration and refinement method forIMU/odometer integration that is able to overcome significant variation of themisalignment parameters, which are induced by many inevitable and adversefactors such as load changing, refueling and ambient temperature. Anodometer-aided IMU in-motion alignment algorithm is also devised that enablesthe first-responsive functionality even when the vehicle is running freely. Theversatile strategy is successfully demonstrated and verified via long-distancereal tests.