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Abstract <p>The paper discusses the data fusion of SINS accelerometers and gyroscopes and an odometer. The solution is based on three-dimensional (3D) inertial and 3D kinematic odometer dead-reckoning and continuous SINS updates by the computed 3D odometer coordinates. Important factors for the integration accuracy are highlighted: misalignments between the SINS instrument frame and the body frame; linear displacements of the SINS center relative to the odometer reference point; odometer scale factor error, and possible timing skews between raw SINS and odometer data. These parameters are included in the estimated variables in the data fusion algorithms. We demonstrate the necessity and efficiency of the proposed algorithmic solutions with experimental data analysis.</p>

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Strapdown Inertial Navigation System and Odometer Data Fusion Using Sensor Angular and Linear Displacements

  • 期刊论文

  • 发表日期：

    2025年12月1日

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  • N. B. Vavilova,
  • A. A. Golovan,
  • D. A. Safin,
  • V. G. Nazarov

摘要

Abstract

The paper discusses the data fusion of SINS accelerometers and gyroscopes and an odometer. The solution is based on three-dimensional (3D) inertial and 3D kinematic odometer dead-reckoning and continuous SINS updates by the computed 3D odometer coordinates. Important factors for the integration accuracy are highlighted: misalignments between the SINS instrument frame and the body frame; linear displacements of the SINS center relative to the odometer reference point; odometer scale factor error, and possible timing skews between raw SINS and odometer data. These parameters are included in the estimated variables in the data fusion algorithms. We demonstrate the necessity and efficiency of the proposed algorithmic solutions with experimental data analysis.