An accurate integrated position and orientation determination method for vehicles is provided in this paper, which utilises inertial measurement unit (IMU) and odometer. Firstly, inertial navigation calculation is accomplished by the outputs of IMU, and the attitude and position of the vehicle can be obtained. At the same time, the dead reckoning calculation is accomplished by the outputs of gyroscopes in IMU and odometer, and the attitude and position of the vehicle can also be obtained. The

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... ror sources of dead reckoning are analysed to establish the attitude error equations and position error equations of dead reckoning. Then the position and attitude outputs from IMU navigation and dead reckoning are taken to construct the measurements of integrated position and orientation determination. And thus the position integrated mode and the attitude/position integrated mode are designed respectively. Kalman filter is adopted to design the filtering algorithm. At last, the above two integrated mode are simulated. Simulation results show that, the attitude/position integrated mode has higher accuracy, so it is very suitable for the accurate independent position and orientation determination of a vehicle for long range. Scheme of IMU/Odometer Integrated Position and Orientation Determination The navigation frame (n-frame) is defined as east-north-up. In the IMU/odometer integrated positioning and orientation determination system, the IMU obtains the information such as the