Estimation of IMU/ODO external parameters based on pre integration

doi:10.13474/j.cnki.11-2246.2021.0113

Abstract

Abstract: Odometer is usually used to assist vehicle GNSS/INS integrated navigation system to solve the problem of precision degradation caused by signal interference and shielding in high-rise buildings, dense forests, tunnels, etc., while odometer assistance needs to obtain accurate odometer arm and installation angle. In this paper, a pre-integration based IMU/ODO external parameter estimation algorithm is proposed. The cost function is constructed by using the mileage increment difference obtained from odometer observation and GNSS/INS integrated navigation, and the calibration parameters are solved by nonlinear optimizer. Simulation and actual test show that the calibration method is effective. The external parameter compensation of odometer observation after calibration can provide centimeter level assistance for vehicle GNSS/INS integrated navigation system.

Key words: integrated navigation, odometer assist, pre-integration, lever arm, installation angle

CLC Number:

P228

HE Qian, CHANG Le, WU Yousi. Estimation of IMU/ODO external parameters based on pre integration[J]. Bulletin of Surveying and Mapping, 2021, 0(4): 68-73.

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