Versatile land navigation using inertial sensors and odometry: Self-calibration, in-motion alignment and positioning
Versatile land navigation using inertial sensors and odometry: Self-calibration, in-motion alignment and positioning
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DOI：
10.1109/inertialsensors.2014.7049412
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发表时间：
2014-09
期刊：
影响因子：
--
通讯作者：
Yuanxin Wu
中科院分区：
文献类型：
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作者：
Yuanxin Wu
在全球定位系统(GPS)被拒绝的情况下，惯性测量单元(IMU)和里程表一直是自主陆地导航的常用传感器。本文系统地提出了一种使用IMU和里程表进行自给式车载导航的通用策略。具体地说，本文提出了一种IMU/里程表积分的自标定和精化方法，该方法能够克服由于负载变化、加油和环境温度等许多不可避免的不利因素引起的不对准参数的显著变化。还设计了一种里程计辅助的IMU动态对准算法，即使在车辆自由运行时也能实现第一响应功能。通过远距离真实测试，成功地验证了该策略的通用性。
Inertial measurement unit (IMU) and odometer have been commonly-used sensors for autonomous land navigation in the global positioning system (GPS)-denied scenarios. This paper systematically proposes a versatile strategy for self-contained land vehicle navigation using the IMU and an odometer. Specifically, the paper proposes a self-calibration and refinement method for IMU/odometer integration that is able to overcome significant variation of the misalignment parameters, which are induced by many inevitable and adverse factors such as load changing, refueling and ambient temperature. An odometer-aided IMU in-motion alignment algorithm is also devised that enables the first-responsive functionality even when the vehicle is running freely. The versatile strategy is successfully demonstrated and verified via long-distance real tests.