MEMS Based SINS/OD Filter for Land Vehicles’ Applications

MEMS Based SINS/OD Filter for Land Vehicles’ Applications

A constrained low-cost SINS/OD filter aided with magnetometer is proposed in this paper. The filter is designed to provide a land vehicle navigation solution by fusing the measurements of the microelectromechanical systems based inertial measurement unit (MEMS IMU), the magnetometer (MAG), and the v...

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Main Authors: Huisheng Liu, Zengcai Wang, Susu Fang, Chao Li
Format: Article
Language:English
Published: Hindawi Limited 2017-01-01
Series:Mathematical Problems in Engineering
Online Access:http://dx.doi.org/10.1155/2017/1691320
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spelling doaj-48914b9de164420f847186a9ad198ee42020-11-24T22:43:09ZengHindawi LimitedMathematical Problems in Engineering1024-123X1563-51472017-01-01201710.1155/2017/16913201691320MEMS Based SINS/OD Filter for Land Vehicles’ ApplicationsHuisheng Liu0Zengcai Wang1Susu Fang2Chao Li3School of Mechanical Engineering, Shandong University, Jinan 250000, ChinaSchool of Mechanical Engineering, Shandong University, Jinan 250000, ChinaSchool of Mechanical Engineering, Shandong University, Jinan 250000, ChinaSchool of Mechanical Engineering, Shandong University, Jinan 250000, ChinaA constrained low-cost SINS/OD filter aided with magnetometer is proposed in this paper. The filter is designed to provide a land vehicle navigation solution by fusing the measurements of the microelectromechanical systems based inertial measurement unit (MEMS IMU), the magnetometer (MAG), and the velocity measurement from odometer (OD). First, accelerometer and magnetometer integrated algorithm is studied to stabilize the attitude angle. Next, a SINS/OD/MAG integrated navigation system is designed and simulated, using an adaptive Kalman filter (AKF). It is shown that the accuracy of the integrated navigation system will be implemented to some extent. The field-test shows that the azimuth misalignment angle will diminish to less than 1°. Finally, an outliers detection algorithm is studied to estimate the velocity measurement bias of the odometer. The experimental results show the enhancement in restraining observation outliers that improves the precision of the integrated navigation system.http://dx.doi.org/10.1155/2017/1691320
collection DOAJ
language English
format Article
sources DOAJ
author Huisheng Liu
Zengcai Wang
Susu Fang
Chao Li
spellingShingle Huisheng Liu
Zengcai Wang
Susu Fang
Chao Li
MEMS Based SINS/OD Filter for Land Vehicles’ Applications
Mathematical Problems in Engineering
author_facet Huisheng Liu
Zengcai Wang
Susu Fang
Chao Li
author_sort Huisheng Liu
title MEMS Based SINS/OD Filter for Land Vehicles’ Applications
title_short MEMS Based SINS/OD Filter for Land Vehicles’ Applications
title_full MEMS Based SINS/OD Filter for Land Vehicles’ Applications
title_fullStr MEMS Based SINS/OD Filter for Land Vehicles’ Applications
title_full_unstemmed MEMS Based SINS/OD Filter for Land Vehicles’ Applications
title_sort mems based sins/od filter for land vehicles’ applications
publisher Hindawi Limited
series Mathematical Problems in Engineering
issn 1024-123X
1563-5147
publishDate 2017-01-01
description A constrained low-cost SINS/OD filter aided with magnetometer is proposed in this paper. The filter is designed to provide a land vehicle navigation solution by fusing the measurements of the microelectromechanical systems based inertial measurement unit (MEMS IMU), the magnetometer (MAG), and the velocity measurement from odometer (OD). First, accelerometer and magnetometer integrated algorithm is studied to stabilize the attitude angle. Next, a SINS/OD/MAG integrated navigation system is designed and simulated, using an adaptive Kalman filter (AKF). It is shown that the accuracy of the integrated navigation system will be implemented to some extent. The field-test shows that the azimuth misalignment angle will diminish to less than 1°. Finally, an outliers detection algorithm is studied to estimate the velocity measurement bias of the odometer. The experimental results show the enhancement in restraining observation outliers that improves the precision of the integrated navigation system.
url http://dx.doi.org/10.1155/2017/1691320
work_keys_str_mv AT huishengliu memsbasedsinsodfilterforlandvehiclesapplications
AT zengcaiwang memsbasedsinsodfilterforlandvehiclesapplications
AT susufang memsbasedsinsodfilterforlandvehiclesapplications
AT chaoli memsbasedsinsodfilterforlandvehiclesapplications
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