When there is an installation error when the strapdown inertial navigation unit (SIMU) is installed on the vehicle, the dead reckoning error is related to the installation error, the odometer scale coefficient error, and the initial alignment error. The above errors can be estimated by using the strapdown inertial navigation system and the dead reckoning system to form an integrated navigation system. To this end, the system equations of the inertial navigation/dead reckoning integrated navigation system are derived when there is an installation error between the inertial unit and the vehicle. Simulation analysis shows that the integrated navigation system can effectively estimate the installation error, the horizontal gyro random constant drift, and the accelerometer random constant bias.
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