Integrated measurement navigation system for uniaxial wheeled module

Аuthors

Aleshin B. S.¹, Maximov V. N.^2*, Chernomorskii A. I.^**, Plekhanov V. E.^2***

1. ,
2. Moscow Aviation Institute (National Research University), 4, Volokolamskoe shosse, Moscow, А-80, GSP-3, 125993, Russia

*e-mail: memsdsp@gmail.com
**e-mail: chernomorsсky@yandex.ru
***e-mail: ve_plekhanov@rambler.ru

Abstract

Algorithms for integrated measurement navigation system based on EKF and UKF and installed on uniaxial wheeled module were reviewed. Comparative analysis of two approaches conducted. A navigation system primary sensor set includes micromechanical accelerometers and gyroscopes, odometer, global navigation system receiver. While developing correction scheme for the system, nonholonomic nature of wheel-surface interaction taken into account.

Keywords:

integrated navigation system, uniaxial wheeled module, MEMS, EKF, UKF, odometer