Abstract
As navigation algorithms using Kalman filters, fuzzy or adaptive algorithms, interacting multiple model (IMM) algorithms and other possible solutions combining data from several sensors, have been progressively used in the last decade, there has been little advance in developing a robust and accurate device available for car manufacturers. The most solutions fail in long-term reliability and/or use too generalized linearization models. This is why in this paper we have examined some high dynamic manoeuvres which are usually a part of automotive tests. Some major issues during these manoeuvres were identified and a modified Kalman filter solution is presented. The problem of positioning of an inertial device within a vehicle is addressed and a transformation of measured data to the centre of gravity (COG) or rotation point (RP) of the vehicle is introduced. We also propose a few methods to identify the start and the stop of a brake test and show distance difference between conventional and modified Kalman algorithm during driving in circles. Finally, a direct and indirect lever-arm correction is introduced and real road tests are made to present an improvement in outputs using one-device sensor setup.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
References
ADMA-G Motion Analyzer (2014). http://www.genesysadma. de/downloads.php?ID=7511
Ekinox-N: INS/GPS (2014). http://www.sbg-systems.com/products/ekinox-n-ins-gps
Barth, A., Siegemund, J., Franke, U. and Frstner, W. (2009). Simultaneous estimation of pose and motion at highly dynamic turn maneuvers. Pattern Recognition, Proc. 31st DAGM Symp., Jena, Germany, 262–71
Cunningham, J. R. (1987). Performance of GPS-aided INS during High-dynamic Maneuvers. M. S. Thesis. Air Force Institute of Technology, Wright-Patterson Air Force Base, Ohio.
Garcia-Pozuelo, D., Diaz, V. and Boada, M. J. L. (2014). New tyre-road contact model for applications at low speed. Int. J. Automotive Technology 15, 4, 553–64
Juhant, R., Vrečko, D., Knez, J. and Blažič, S. (2015). Improved pose estimation for vehicle navigation using frame alignment and forward smoothing. Automatika 56, 2, 120–31
Jwo, D.-J., Yang, C.-F., Chuang, C.-H. and Lee, T.-Y. (2013). Performance enhancement for ultra-tight GPS/ INS integration using a fuzzy adaptive strong tracking unscented Kalman filter. Nonlinear Dynamics 73, 1, 377–95
Kämpchen, N., Weiss, K., Schafer, M. and Dietmayer, K. C. J. (2004). IMM object tracking for high dynamic driving maneuvers. IEEE Intelligent Vehicles Symp., 825–30
Kee, J. D., Rho, J. H., Kim, K. H. and Lee, D. H. (2014). High speed driving stability of passenger car under crosswind effects. Int. J. Automotive Technology 15, 5, 741–47
Kim, S. J., Kim, K.-S. and Yoon, Y.-S. (2015). Development of a tire model based on analysis of tire strain obtained by an intelligent tire system. Int. J. Automotive Technology 16, 5, 865–75
Kong, X. (2000). Inertial Navigation System Algorithms for Low Cost IMU. Ph. D. Dissertation. The University of Sydney. Sydney.
Lee, D. E., Byun, G. and Choo, H. S. (2015). Optimization of the mounting position and angle for RKE antennas. Int. J. Automotive Technology 16, 5, 821–25
Lee, D. H., Kim, S. K., Kim, C. S. and Huh, K. S. (2014). Development of an autonomous braking system using the predicted stopping distance. Int. J. Automotive Technology 15, 2, 341–46
Modlenhauer, P. and Kröger, M. (2010). Simulation and experimental investigations of the dynamic interaction between tyre tread block and road. Lecture Notes in Applied and Computational Mechanics, 51, 165–200
Park, C.-H. and Kim, N.-H. (2014). Precise and reliable positioning based on the integration of navigation satellite system and vision system. Int. J. Automotive Technology 15, 1, 79–87
Pozna, C., Troester, F., Precup, R.-E., Tar, J. K. and Preitl, S. (2009). On the design of an obstacle avoiding trajectory: Method and simulation. Mathematics and Computers in Simulation, 79, 2211–2226
Saint-Jean, B., Verdun, J., Duquenne, H., Barriot, J. P., Melachroinos, S. and Cali, J. (2007). Fine analysis of lever arm effects in moving gravimetry. Dynamic Planet, Int. Association of Geodesy Symposia, 130, 809–816
Seo, J., Lee, H. K., Lee, J. G. and Park, C. G. (2006). Lever arm compensation for GPS/INS/Odometer integrated system. Int. J. Control, Automation and Systems 4, 2, 247–254
Shin, E.-H. (2001). Accuracy Improvement of Low Cost INS/GPS for Land Applications. M. S. Thesis. University of Calgary. Calgary.
Shin, E.-H. (2005). Estimation Techniques for Low-Cost Inertial Navigation. Ph. D. Dissertation. University of Calgary. Calgary.
Skaloud, J. (1999). Optimizing Georeferencing of Airborne Survey Systems by INS/DGPS. Ph. D. Dissertation. The University of Calgary. Calgary.
Titterton, D. and Weston, J. (2005). Strapdown Inertial Navigation Technology. 2nd edn. The Institution of Electrical Engineers. UK.
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Juhant, R., Knez, J. & Blažič, S. Analysis of high dynamic car manoeuvres using two types of lever-arm correction. Int.J Automot. Technol. 17, 245–253 (2016). https://doi.org/10.1007/s12239-016-0024-y
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s12239-016-0024-y