Lever Arm Compensation for GPS/INS/Odometer Integrated System

Abstract

For more accurate navigation, lever arm compensation is considered. The
\ncompensation method for GPS and an odometer is introduced and new compensation methods
\nare proposed for an odometer to consider the effect of coordinate transformation errors and the
\nscale factor error. The methods are applied to a GPS/INS/odometer integrated system and the
\nsimulation and experimental results show its effectiveness.