An Improved LKF Integrated Navigation Algorithm Without GNSS Signal for Vehicles with Fixed-Motion Trajectory

Without a GNSS (global navigation satellite system) signal, the integrated navigation system in vehicles with a fixed trajectory (e.g., railcars) is limited to the use of micro-electromechanical system-inertial navigation system (MEMS-INS) and odometer (ODO). Due to the significant measurement error of the MEMS inertial device and the inability of ODO to output attitude, the positioning error is generally large. To address this problem, this paper presents a new integrated navigation algorithm based on a dynamically constrained Kalman model. By analyzing the dynamics of a railcar, several new observations have been investigated, including errors of up and lateral velocity, centripetal acceleration, centripetal D-value (difference value), and an up-gyro bias. The state transition matrix and observation matrix for the error state model are represented. To improve navigation accuracy, virtual noise technology is applied to correct errors of up and lateral velocity. The vehicle-running experiment conducted within 240 s demonstrates that the positioning error rate of the dead-reckoning method based on MEMS-INS is 83.5%, whereas the proposed method exhibits a rate of 4.9%. Therefore, the accuracy of positioning can be significantly enhanced.