Integrated Navigation Method for RINS and Odometer

Abstract

In order to meet the requirements of autonomous location and orientation in vehicle-mounted navigation system, this paper combined with rotation modulation technology and Kalman filter principle to establish an integrated navigation model for RINS and odometer. Based on the error models of the RINS and the odometer, the compositive error model and observation model of integrated system were deduced. The simulation experiments, which contained the comparison between integrated navigation system and RINS, were carried out. The results demonstrate the effectiveness of proposed integrated navigation method compared with the traditional way. The proposed method makes for the high-precision vehicle navigation system.