Integrated Navigation Analysis for Odometer-Aided SINS

In order to improve the vehicle positioning accuracy based on strapdown inertial navigation system(SINS), this paper researched the navigation method combining SINS and odometer. Firstly the error equation of SINS and the error model of odometer were established respectively. Then the integrated navigation state model and measurement model were deduced on positional combination mode. Finally the simulation between the method mentioned in this paper and single dead reckoning were carried out and compared, the results show that the accuracy of odometer-aided SINS is obviously better than that of single dead reckoning.