Fast Calibration Method of Odometer Parameters Based on Speed Information of Strapdown Inertial Navigation System
To solve the problem that the scale factor error and installation error of odometers have a great influence on the accuracy of strapdown inertial navigation/odometer integrated navigation,a fast calibration method based on short-term SINS(strapdown inertial navigation system)information is proposed for odometer parameters.By establishing a dead-reckoning error model,the relationship between the output speed of the inertial navigation system and the output of the odometer in the inertial measurement unit(IMU)coordinate system is constructed,and the formula of calculating the odometer parameters is obtained.The least squares method is utilized to calibrate the odometer scale factor and installation error.This method only uses strap-down inertial navigation information to achieve the initial calibration of the odometer parameters within 1 min.It does not require the assumption that the error value of the relevant parameters is small,and ignores the influence of the lever arm effect on the calibration effect.The test results show that,when the vehicle has been running for 30 min,the accuracy of the horizontal dead-reckoning method calibrated by this method is 92.3%higher than that of the traditional calibration method.
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维普
