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It is a challenge to achieve high accuracy navigation for land vehicles without the aid of global navigation satellite systems (GNSS). Inertial measurement unit (IMU) and odometer (OD) are widely deployed due to their complementary properties. In this paper, SINS/OD integrated navigation algorithm based on body frame position increment is studied to improve the navigation performance. Taking the calibration errors of odometer scale factor, IMU installation angle, and lever arm into consideration, the odometer measurement model is derived. Then measurement equations based on body frame position increment are proposed to overcome the amplified random errors in the traditional velocity observation approach. Odometer fault detection and exception are conducted based on residual detection method, with the nonholonomic constraints of land vehicles applied to mitigate the standalone SINS error drift. Long distance real test is carried out using laser gyro SINS to assess the proposed algorithm, which shows that navigation performance can be effectively improved.

SINS/OD Integrated Navigation Algorithm Based on Body Frame Position Increment for Land Vehicles