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Nonholonomic constrained navigation algorithm for MIMU/odometer integration

This Paper applies nonholonomic constrained filter model problems to the Micro Inertial Measurement Unit (MIMU)/Odometer integrated system when the vehicle is in the normal running conditions. In the velocity equation, the acceleration of vehicle is relative to the Earth Centered Earth Fixed (ECEF) frame. It is often decomposed into the navigation frame and it can also be decomposed into the body frame in order to extract the proper measurement quantities of nonholonomic constrain from odometer, gyroscopes and accelerometers. This constrain can be utilized to improve the observation equations in the error model equations. The practicality of this method is tested in the vehicle test. The performance of the improved system shows that the use of nonholonomic constrains can get better navigation accuracy than the method which only uses odometer distance increment.