Tracked vehicle navigation technology provides an important guarantee for military and civilian tracked vehicles to perform their tasks. In this paper, the zero-velocity update technology (ZUPT) is used to optimize the inertial navigation algorithm of the crawler and improve the navigation accuracy based on the motion constraints of the crawler. Through uphill & downhill experiment, it is verified that the optimized zero-velocity detection algorithm has better detection effect. The closed-loop experiment proves that the ZUPT can effectively suppress the navigation errors of the tracked vehicle, and combined with the zero-angular-rate update technology (ZARU) can achieve higher navigation accuracy.
Study on Application of Zero-Velocity Update Technology to Tracked Vehicle Inertial Navigation
2020-07-01
2396561 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Modern inertial navigation technology and its application
IET Digital Library Archive | 2000
|British Library Conference Proceedings | 2015
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