Non-gyroscope DR and information fusion algorithm used in RDSS/DR device

This paper introduces homemade Beidou satellite navigation and positioning system. In view of the problems existing in the system, a RDSS/DR integrated navigation device is designed. The operating principle and the algorithm of the device are also presented. By operating measured data synthetically, linear observation equation is obtained for the navigation algorithm. This approach avoids model error due to linearizing nonlinear observation equation in the conventional algorithm, so that the stability of navigation algorithm is improved and computation expenses are reduced. Field running experiments show that satisfactory accuracy can be obtained by the proposed navigation model and algorithm for the vehicular RDSS/DR integrated navigation system without gyroscope.