A constrained low-cost SINS/OD filter aided with magnetometer is proposed in this paper. The filter is designed to provide a\nland vehicle navigation solution by fusing the measurements of the microelectromechanical systems based inertial measurement\nunit (MEMS IMU), the magnetometer (MAG), and the velocity measurement from odometer (OD). First, accelerometer and\nmagnetometer integrated algorithm is studied to stabilize the attitude angle. Next, a SINS/OD/MAG integrated navigation system\nis designed and simulated, using an adaptive Kalman filter (AKF). It is shown that the accuracy of the integrated navigation system\nwill be implemented to some extent. The field-test shows that the azimuth misalignment angle will diminish to less than 1âË?Ë?. Finally,\nan outliers detection algorithm is studied to estimate the velocity measurement bias of the odometer.The experimental results show\nthe enhancement in restraining observation outliers that improves the precision of the integrated navigation system.
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