On the Integration of Inertial and GPS Data with an Odometer for Land Vehicles Navigation

S. Cunha, L. Bastos, T. Cunha, P. Tomé

Abstract:	This article addresses the integration of odometer readings and vehicle motion constraint equations into the inertial data processing loop, in order to significantly extend the ability of this device to stay aligned and, therefore, keep position accuracy within strict bounds for longer periods. Two approaches are presented: one in which the odometer readings and vehicle motion equations are used to compute positions and velocities, leaving the inertial sensor with the role of determining the vehicle attitude. In the second approach, all sensors are tightly integrated in a single Kalman filter. The goal is to provide a dead-reckoning navigation system that is able to maintain position accuracy within the bounds that make quasi-instantaneous ambiguity fixing of L1/L2 data possible after severe satellite blockages, as they occur in urban navigation conditions.
Published in:	Proceedings of the 16th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS/GNSS 2003) September 9 - 12, 2003 Oregon Convention Center Portland, OR
Pages:	940 - 944
Cite this article:	Cunha, S., Bastos, L., Cunha, T., Tomé, P., "On the Integration of Inertial and GPS Data with an Odometer for Land Vehicles Navigation," Proceedings of the 16th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS/GNSS 2003), Portland, OR, September 2003, pp. 940-944.
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