Inertial-Odometry Module of the ERA-GLONASS Radio Navigation Device for Two-Wheeled Vehicles under Satellite Radio Signal Loss

Abstract

The article is devoted to the development and study of an inertial-odometry module for two-wheeled vehicles, which improves the characteristics of the ERA-GLONASS radio navigation device in conditions of poor satellite radio signals or their temporary inaccessibility. To do this, a mathematical model of an integrated navigation system based on an advanced Kalman filter is used, where data from MEMS accelerometers and gyroscopes are supplemented by signals from the odometer and combined into a closed correction loop. To verify the algorithm effectiveness, full-scale tests were carried out using a reference high-precision satellite navigation, which makes it possible to quantify the error of the proposed solution on a test route simulating real traffic conditions. Experimental studies have shown that the proposed algorithm enables effective suppress the cubic drift of the error in determining the position of a two-wheeled vehicle, which is characteristic of strapdown inertial navigation systems. In the long absence of a global navigation satellite system signal, the hybrid system showed a root mean square position error of less than 5 % of the distance traveled, while the error of purely inertial navigation usually exceeds 20 %. The key achievement was the successful suppression of the error accumulation on the course through the use of odometry information. Within the framework of the proposed algorithm, an adaptive zero-velocity detector is implemented, based on the analysis of the acceleration rate and angular velocity, which makes it possible to perform correction in suitable driving conditions and limit drift further. Analysis of the trajectories after performing complex maneuvers (sharp turns, acceleration and braking) confirmed the algorithm stability to the effects of dynamic rolls and short-term wheel slippage. However, it has been established that long-term intensive slippage leads to a significant increase in positional error, which requires subsequent initialization of the system based on signals from the navigation satellite system.