SINS/OD fault-tolerant navigation algorithm based on tracked vehicle kinematic constraints

In this paper, for the problem that the accuracy declining of the SINS/OD navigation caused by the sliding and idling during the process of turning and straight running, and stopping output of the odometer, a kinematic constraint model of the tracked vehicle is established. The sliding and idling during the process of turning are compensated. In the filtering process, the difference of the displacement increment is used as the observed quantity, and a two-layer fault detection algorithm is used to detect the output fault of the odometer. The simulation experiments show that the SINS/OD integrated navigation algorithm assisted by the kinematic constraints of the tracked vehicle can detect the output fault of the odometer accurately and perform fault-tolerant navigation, which greatly improves the positioning accuracy after the odometer failure.