捷联惯导/里程计高精度组合导航算法

针对里程计(OD)刻度系数误差和惯导安装误差角对车载捷联惯导(SINS)/OD组合导航系统的影响，重新推导并建立了新的量测方程，在此基础上加入故障检测的方法，从而构成了新的组合导航算法。该组合导航算法能够有效地提高组合导航精度，及时准确地检测出量测故障；同时该组合导航算法同样适用于车辆运动学约束辅助导航模式，为OD发生故障时提供了一种容错方案。仿真结果验证了该算法的有效性。

High Accuracy Algorithm for SINS/Odometer Integrated Navigation System

To solve the problems induced by the scale factor error of odometer (OD) and the installation error of inertial measurement unit in the vehicle strapdown inertial navigation system (SINS)/OD integrated navigation system, a SINS/OD integrated navigation algorithm is proposed, in which a new measurement equation is established and a fault detection method is introduced. This algorithm can effectively improve the navigation accuracy, and accurately detect the fault in time. It can also be suitable for the navigation mode aided by vehicle kinematics constraints to provide a fault-tolerant scheme for OD fault. The simulation results show that the algorithm is effective.