Design and Performance Verification of RSINS/Odometer Fault-Tolerant Integrated Navigation Scheme

Abstract

In order to meet the requirements of autonomous, accuracy and reliability of vehicle navigation system for weapon launch vehicles, a fault-tolerant integrated navigation scheme of RSINS/odometer is designed. Based on the analysis of the characteristics of different odometer measurement information, the RSINS/odometer integrated navigation system model based on mileage increment matching mode is established. According to the results of the observability analysis of the RSINS/odometer integrated navigation system model, an observable RSINS/odometer integrated navigation system model is established. A fault-tolerant integrated navigation information fusion scheme of RSINS/odometer based on sequential Kalman filter is designed to solve the problem that odometer measurement information may not be available during vehicle driving. Finally, the simulation results show that the RSINS/odometer fault-tolerant integrated navigation scheme can ensure the navigation accuracy and reliability of the integrated system.

Keywords

• |sins|rotation modulation|odometer|integrated navigation|sequential kalman filter