MATEC Web Conf.
Volume 198, 20182018 Asia Conference on Mechanical Engineering and Aerospace Engineering (MEAE 2018)
|Number of page(s)||6|
|Section||Power Machinery and System Analysis|
|Published online||12 September 2018|
SINS/OD fault-tolerant navigation algorithm based on tracked vehicle kinematic constraints
Army Academy of Armored Forces, Beijing 100072, China
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.
© The Authors, published by EDP Sciences, 2018
This is an open access article distributed under the terms of the Creative Commons Attribution License 4.0 (http://creativecommons.org/licenses/by/4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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