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.


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    Title :

    Study on Application of Zero-Velocity Update Technology to Tracked Vehicle Inertial Navigation


    Contributors:
    Zhang, Yang (author) / Feng, Qingquan (author) / Gao, Mei (author)


    Publication date :

    2020-07-01


    Size :

    2396561 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English





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