Encoder/INS/GNSS Integrated Navigation for Autonomous Land Vehicles with Mecanum Wheels

Haoyu Zhou, Yimin Wei, Zheng Yao and Mingquan Lu

Peer Reviewed

Abstract:	This paper presents an encoder/INS/GNSS integrated system for improving the navigation performance of the autonomous land vehicle (ALV) with Mecanum wheels. In contrast to the commonly used INS/GNSS integrated system, the proposed integration method introduces data from encoders of Mecanum wheels so that the cumulative errors of horizontal velocities and yaw angle provided by INS are bounded. It is shown that the position estimate and velocity estimate of the ALV provided by proposed integrated system are observable under any situations. Based on theoretical analyses, the shortcomings of INS/GNSS integrated system and encoder/INS integrated system can be compensated by proposed integrated system. To verify the navigation performance of the proposed integrated system, comparisons between the trajectory estimated by aforementioned navigation systems based on experimental results are provided. The results of experiments show that the proposed integrated system has a best navigation performance among the three navigation systems.
Published in:	Proceedings of the 32nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2019) September 16 - 20, 2019 Hyatt Regency Miami Miami, Florida
Pages:	2950 - 2963
Cite this article:	Zhou, Haoyu, Wei, Yimin, Yao, Zheng, Lu, Mingquan, "Encoder/INS/GNSS Integrated Navigation for Autonomous Land Vehicles with Mecanum Wheels," Proceedings of the 32nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2019), Miami, Florida, September 2019, pp. 2950-2963. https://doi.org/10.33012/2019.16962
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