基于水平运动假设约束的车辆IMU/里程计融合导航方法OA

In the current combination navigation of inertial measurement unit(IMU)and odometer,a large amount of research has addressed the issue of speed error divergence by proposing methods such as non-holonomic constraints(NHC)and zero-velocity updates(ZUPT)to suppress the speed errors.However,research on attitude constraints for land vehicle scenarios is still relatively limited.Considering that most land vehicles operate in an approximately horizontal motion state,this paper proposed a vehicle IMU/odometer fusion navigation method based on the horizontal motion hypothesis constraint(HMC).Building on traditional non-holonomic constraints,zero constraints for the pitch and roll angles of the IMU were introduced to further weaken the influence of attitude errors on velocity and position computation.Through comparative vali-dation using three sets of real vehicle test data,the proposed algorithm improved the horizontal positioning accuracy by approximately 66.88％,67.61％,and 16.64％,and improved vertical positioning accuracy by approximately 98.79％,98.15％,and 87.32％compared to the IMU/odometer fusion method that solely employed non-holonomic constraints.