All our INS models provide an odometer input which can greatly improve performance in challenging environments such as urban canyons.
The odometer provides a reliable velocity information even during GNSS outages. This increases significantly the dead reckoning accuracy.
Our products support:
Quadrature output or compatible odometers with forward and reverse directions.
CAN vehicle velocity messages (fully configurable) for setup with direct interface with vehicle’s ODBII connector when using the Ellipse series.
Odometer integration is made really simple as the EKF will finely adjust odometer's gain and will correct residual errors in the odometer alignment and lever arm.
Mechanical Installation
The Odometer has to be placed on a non steering wheel (rear wheel in most applications).
The Odometer lever arm has to be measured. It is the signed distance, expressed in the vehicle coordinate frame, FROM the IMU TO the point of contact between the ground and the tire where the Odometer is installed. It has to be measured with 5cm accuracy.
Electrical installation
SBG Systems INS devices support several DMI (Distance Measurement Instrument) devices and conventions. You can connect simple pulse odometer to more complex quadrature wheel encoders that provide both a velocity and a direction of travel.
