Research on Error Correction Algorithm of Vehicle SINS and Odometer Integrated Navigation

In order to solve the problem of odometer small differential error and pulse calculation error and improve the precision of SINS and Odometer Integrated Navigation, this paper proposes an error correction algorithm of vehicle SINS and odometer integrated navigation, compares the calculated position of SINS with the calculated position of odometer as the measured value of integrated navigation within the fixed mileage range and presents a method to correct the truncation error of odometer counting. The simulation results show that these methods can quickly separate the sensor errors of the integrated navigation system, have the high positioning and orientation accuracy. Also, these methods can be applied in the practical vehicle SINS system.