SINS/Odometer/LDV Fault Tolerant Integrated Navigation Method

Traditional vehicle SINS/Odometer integrated navigation uses Hall odometer and other sensors to measure vehicle wheel speed. The navigation errors increased obviously when the vehicle slides. A method that the vehicle body velocity directly measured by laser Doppler velocimeter (LDV) is added to the traditional vehicle SINS/Hall-Odometer integrated navigation is presented. The SINS error model, the odometers error model and the LDV error model are considered. The integrated navigation model of SINS/odometer/LDV is built by using the incremental mileage difference in the filter period as the observation. To meet the requirements of high reliability integrated navigation, residual χ
²
fault detection method is adopted to detect Hall odometer and LDV fault. The actual vehicle integrated navigation experiment is carried out. The results show that the positioning accuracy is still high when the output of Hall odometer or LDV is interrupted.