|Lever Arm Compensation for GPS/INS/Odometer Integrated System
Jaewon Seo, Hyung Keun Lee, Jang Gyu Lee, and Chan Gook Park*
International Journal of Control, Automation, and Systems, vol. 4, no. 2, pp.247-254, 2006
Abstract : For more accurate navigation, lever arm compensation is considered. The compensation method for GPS and an odometer is introduced and new compensation methods are proposed for an odometer to consider the effect of coordinate transformation errors and the scale factor error. The methods are applied to a GPS/INS/odometer integrated system and the simulation and experimental results show its effectiveness.
Keyword : GPS, INS, integrated navigation system, Kalman filter, lever arm compensation.