INS/Odometer Integration: Positional Approach

Abstract The problem of a strapdown inertial navigation system (SINS) integration with an odometer as part of an integrated navigation system is considered. The odometer raw measurement is considered as an increment of the distance traveled along the odometer “measuring” axis. Models of the integration solution components for the case of three-dimensional navigation are presented, among which are the models of inertial autonomous and kinematic odometer dead reckoning (DR), models of relevant error equations, the model of SINS position aiding based on the odometer DR data and using GNSS position and velocity, wherever possible. The models comprise objective components, which do not depend on the type of the inertial sensors used and their accuracy grade, and variable components, which take into account the properties of the navigation sensors used. The integration does not require zero velocity updates, known as ZUPT correction, which are commonly used in navigation application.