Research of Error Compensation Based on DR/GIS Integrated Navigation

Abstract

Dead Reckoning is an autonomous navigation method less susceptible to external environment, but due to the initial alignment declination and odometer coefficient error, navigation errors increase with time. In this paper, the map matching algorithm is used to precisely match the dead reckoning to compensate the vehicles heading deviation angle and odometer coefficient error by positioning error. Studies have shown that the odometer coefficient error and dynamic alignment accuracy are mainly affected by the vehicles displacement between two points and positioning accuracy. Error feedback iterative method is used to compensate for correction, which can better inhibit the gyro drift on navigation deviations impact. The simulation results show that considering the map matching algorithm accuracy under the premise of this program, the odometer coefficient error is significantly lower and the accuracy of alignment can reach minute level after five iterative calculations.