HMM Based Autarkic Reconstruction of Motorcycle Behavior from Low-Cost Inertial Measurements

  • Nathan Munzinger
  • Roger Filliger
  • Simon Bays
  • Kurt Hug
Conference paper
Part of the VDI-Buch book series (VDI-BUCH)

Abstract

Based on autarkic data from a low-cost, 6-axes inertial measurement unit (IMU), which is fixed onto and power-supplied by the motorcycles battery, we reconstruct forward velocity and elementary driving behavior of a motorcycle using a Hidden Markov Model (HMM). The notorious drift problem of integrated IMU data is mastered by using the voltage fluctuations of the motorcycle’s battery as a stabilizing external signal. Despite the structural simplicity of the algorithm and the relatively low performance of the IMU, the proposed off-line estimator is, after a short learning phase, accurate for a large class of motorcycles.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  • Nathan Munzinger
    • 1
  • Roger Filliger
    • 1
  • Simon Bays
    • 1
  • Kurt Hug
    • 1
  1. 1.Berner Fachhochschule TIBielSwitzerland

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