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In order to enhance the accuracy of vehicular laser inertial measurement unit (LIMU) integrated navigation system, and to lessen the impact of the odometer (OD) error and the installation error of inertial navigation system (INS). Analysis of the installation error of INS, the OD scale factor error, and the requirement for odometer calibration for the dead reckoning (DR) integrated navigation system. It is suggested to propose an online calibration algorithm that is based on the differences between the GPS position and DR position and the GPS position and strapdown inertial navigation system (SINS) solution position. The installation error of INS and the OD scale factor error can both be accurately estimated using this method. The simulation test and vehicle test results used to validate the algorithm's efficacy demonstrate that it can accurately calibrate the installation error of INS and the OD scale factor error while achieving a high level of accuracy, making it useful for engineering applications.
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Shu et al. (2023) studied this question.
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