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Fast identification of a detailed two-track model with onboard sensors and GPS

  • Jakob Bechtloff
Conference paper
Part of the Proceedings book series (PROCEE)

Abstract

This contribution investigates the sensor fusion of a three antenna GPS-system (position, velocity, yaw, pitch and roll angles) and an inertial measurement unit (IMU, angular velocities and accelerations) to get a three dimensional motion estimation of a vehicle. To handle the different delays of GPS measurements and the nonlinearities in the measured system a Sequential Enhanced Kalman Filter is used. Bias and gain errors of the IMU are estimated to allow a precise calibration of angular velocities and accelerations.

Keywords

Inertial Measurement Unit Sensor Fusion Rear Axle Track Model Side Slip Angle 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer Fachmedien Wiesbaden 2014

Authors and Affiliations

  • Jakob Bechtloff
    • 1
  1. 1.Institute of Automatic Control and Mechatronics (iat)TU DarmstadtDarmstadtGermany

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