Abstract：When GNSS outage occurs in a land vehicle GNSS/INS integrated navigation system, INS navigation error will be cumulated quickly. In order to improve positioning precision and integrity, odometer speed information and non-holonomic data are utilized to aid the integrated navigation system. We derive the output model of the odometer in consideration of the scale factor error of the odometer and the misalignment angle of IMU. The model, based on Kalman filter for the GNSS/INS integrated navigation aided by odometer, is deduced. A vehicle experiment is performed to verify the proposed method. The results show that the odometer can effectively restrain the error divergence of the navigation system. In case of GNSS outage of 60 s or 10 minutes, the positional accuracy is increased by more than 90%.
