Vehicle-mounted SINS/Dual LDV Integrated Navigation Method Based on Sequential Residual Chi-square Detection

The laser Doppler velocimeter (LDV) has been widely used in vehicle integrated navigation with strapdown inertial navigation system (SINS). However, the traditional SINS/LDV vehicle integrated navigation system can not work normally in the unfavorable navigation environment such as stagnant water and mud, because the LDV is prone to measurement failure when it encounters the above unfavorable roads. In this paper, a method that SINS/dual LDV integrated navigation based on sequential residual chi-square detection is proposed to meet the demand of military vehicles for on-board navigation system with high precision, high reliability and high concealment. Firstly, the velocity measurement error model of LDV is considered. Then the 21-dimensional SINS/dual LDV integrated navigation system model is constructed by speed combination. Finally, the validity of LDV output speed is judged by chi-square fault detection algorithm, and the fault information is eliminated by sequential filtering, so that the integrated navigation system with high robustness is obtained. The results of the vehicle-based experiments indicate that the designed SINS/dual LDV integrated navigation system can still maintain a high level of positioning accuracy even when a single set of LDV experiences a long-duration measurement failure.