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Mathematical Problems in Engineering
Volume 2017 (2017), Article ID 1691320, 9 pages
Research Article

MEMS Based SINS/OD Filter for Land Vehicles’ Applications

1School of Mechanical Engineering, Shandong University, Jinan 250000, China
2Key Laboratory of High-Efficiency and Clean Mechanical Manufacture, Ministry of Education, Jinan 250000, China

Correspondence should be addressed to Zengcai Wang

Received 29 July 2016; Revised 29 November 2016; Accepted 5 December 2016; Published 16 January 2017

Academic Editor: Antonino Laudani

Copyright © 2017 Huisheng Liu et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


A constrained low-cost SINS/OD filter aided with magnetometer is proposed in this paper. The filter is designed to provide a land vehicle navigation solution by fusing the measurements of the microelectromechanical systems based inertial measurement unit (MEMS IMU), the magnetometer (MAG), and the velocity measurement from odometer (OD). First, accelerometer and magnetometer integrated algorithm is studied to stabilize the attitude angle. Next, a SINS/OD/MAG integrated navigation system is designed and simulated, using an adaptive Kalman filter (AKF). It is shown that the accuracy of the integrated navigation system will be implemented to some extent. The field-test shows that the azimuth misalignment angle will diminish to less than 1°. Finally, an outliers detection algorithm is studied to estimate the velocity measurement bias of the odometer. The experimental results show the enhancement in restraining observation outliers that improves the precision of the integrated navigation system.