An Improved Autonomous Inertial-Based Integrated Navigation Scheme Based on Vehicle Motion Recognition
نویسندگان
چکیده
The autonomous navigation technology of INS has always attracted the attention many scholars. In satellite-denied environment, making full use auxiliary sensors with characteristics can suppress dynamic error generated by in effectively. However, like an odometer (OD) and laser doppler velocimeter (LDV) will cause instability to system. To solve above problems, we propose improved inerital-based integrated scheme utilizing vehicle motion recognition. main research work be summarized as: (1) Non-holonomic constrained velocity model tri-axis zero been established for inertial-based model. (2) Vehicle state recognition method proposed IMU data. As shown experimental results, estimate biases increase positioning accuracy effectively as compared traditional methods.
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ژورنال
عنوان ژورنال: IEEE Access
سال: 2023
ISSN: ['2169-3536']
DOI: https://doi.org/10.1109/access.2023.3318548