Повышение точности автономной навигации наземных подвижных объектов

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Повышение точности автономной навигации наземных подвижных объектов
Инженерный журнал: наука и инновации # 4·2016 11
Improving the accuracy of land mobile
object autonomous navigation
© . Egorushkin, V.I. Mkrtchyan
Bauman Moscow State Technical University, Moscow, 105005, Russia
The article discusses the development of algorithms for improving land mobile object
autonomous navigation. The navigation can be performed using inertial navigation sys-
tem (INS) operating all alone or using odometer complementary to INS. In the former
case, accuracy is improved as a result of INS error correction conducted during periodic
stops of the object. In the latter the accuracy improvement is a result of calibration of
INS and odometer errors on the known coordinates of at least one route point. The ad-
vantage of the proposed methods is their principal autonomy: there is no need to trans-
mit/receive any signal from outside for their implementation. In each situation under
consideration the proposed algorithms can significantly increase the accuracy of deter-
mining the location and velocity of the moving object. The results of algorithm testing on
the INS of middle accuracy rating mounted on the cross-country vehicle are presented.
Keywords: inertial navigation system (INS), odometer, gyroscope, accelerometer, auton-
omous navigation, global satellite navigation system NSS.
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