Inertial Measurement Unit/Odometer Integrated Position and Orientation Determination Method

DOI

10.2991/amcce-18.2018.136How to use a DOI?

Keywords

inertial measurement unit (IMU), odometer, position and orientation determination, dead reckoning, Kalman filter

Abstract

An accurate integrated position and orientation determination method for vehicles is provided in this paper, which utilises inertial measurement unit (IMU) and odometer. Firstly, inertial navigation calculation is accomplished by the outputs of IMU, and the attitude and position of the vehicle can be obtained. At the same time, the dead reckoning calculation is accomplished by the outputs of gyroscopes in IMU and odometer, and the attitude and position of the vehicle can also be obtained. The error sources of dead reckoning are analysed to establish the attitude error equations and position error equations of dead reckoning. Then the position and attitude outputs from IMU navigation and dead reckoning are taken to construct the measurements of integrated position and orientation determination. And thus the position integrated mode and the attitude/position integrated mode are designed respectively. Kalman filter is adopted to design the filtering algorithm. At last, the above two integrated mode are simulated. Simulation results show that, the attitude/position integrated mode has higher accuracy, so it is very suitable for the accurate independent position and orientation determination of a vehicle for long range.

Copyright

© 2018, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Bo Yang
AU  - Bin Shan
AU  - Fujian Zhang
AU  - Liang Xue
PY  - 2018/05
DA  - 2018/05
TI  - Inertial Measurement Unit/Odometer Integrated Position and Orientation Determination Method
BT  - Proceedings of the 2018 3rd International Conference on Automation, Mechanical Control and Computational Engineering (AMCCE 2018)
PB  - Atlantis Press
SP  - 777
EP  - 782
SN  - 2352-5401
UR  - https://doi.org/10.2991/amcce-18.2018.136
DO  - 10.2991/amcce-18.2018.136
ID  - Yang2018/05
ER  -