High precision SINS/OD dead reckoning algorithm considering lever arm effect

The odometer measurement model is introduced in this paper and a measurement model considering the lever arm error is established. The influence of the misalignment angle and the lever arm effect on the navigation accuracy in SINS/OD (Strapdown Inertial Navigation System/Odometer) integrated navigation is analyzed, and a high precision dead reckoning algorithm considering lever arm effect is proposed. Finally, the correctness and validity of the algorithm is verified by computer simulation.