Abstract:

For achieving the accurate calibration of an odometer’s scale factor at uneven speed in vehicle navigation system, the simplified dynamic model of vehicle motion is built, the influence of relative sliding between tire and surface on the odometer’s measurement precision is analyzed when acceleration and deceleration, and the relative sliding model based on road friction coefficient is derived. The outputs of strapdown inerial navigation system (SINS) have high precision at the initial phase of navigation, and the odometer’s scale factor is calibrated using Kalman filter based on position output. The test result shows that high calibration precision can be achieved with vehicle variable velocity. The calibrated odometer is used for dead reckoning, the longitudinal measurement accuracy is improved from 0.16% to 0.02% compared with the uncorrected estimate.