Application of Kalman Filter Technology to Integrated INS/DR Navigation System for Land Vehicle

Abstract:

Strap-down INS is composed of fiber gyroscope. Position error propagation equation and position update algorithm of dead reckoning is deduced in this paper. The Kalman filter is proposed for compensation error of integrated system. The difference of velocity between INS and DR is used as the input of Kalman filter, attitude error, velocity error, position error and scale factor error are to be estimated which compensate and rectify the errors of integrated navigation system. By carrying out experiment upon vehicular navigation system in use of Kalman filter, the errors of integrated navigation system are estimated accurately. Experiment result show that the method not only can effectively improve precision of the system, but also is simple and convenient, so it is more suitable for practical application.

• Periodical: Applied Mechanics and Materials (Volumes 411-414)
• Pages: 912-916
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.411-414.912
• Online since: September 2013
• Authors: Ying Chen, Xia Jiang Zhang, Yuan Yuan Xue, Zhen Kang, Ting Shang
• Keywords: Dead-Reckoning, Error Compensation, Integrated Navigation System, Kalman Filter (KF)

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