Experimental validation of vehicle velocity, attitude and IMU bias estimation

Wouter Scholte (Corresponding author), Vicent Rodrigo Marco (Corresponding author), Henk Nijmeijer (Corresponding author)

Research output: Contribution to journalConference articleAcademicpeer-review

8 Citations (Scopus)
52 Downloads (Pure)


This paper proposes an estimation method for the three dimensional velocity, and the roll and pitch angles of a land vehicle. The usage of low-cost sensors is required for applications in production vehicles. The proposed estimation method uses a low-cost inertial measurement unit (IMU) of which the biases are estimated. A nonlinear system is used to create an observer for simultaneous state and parameter estimation. Experimental results show the potential of this approach in a real world environment.
Original languageEnglish
Pages (from-to)118-123
Number of pages6
Issue number8
Publication statusPublished - Jul 2019
Event10th IFAC Symposium on Intelligent Autonomous Vehicles - Gdańsk University of Technology, Faculty of Electronics, Telecommunications and Informatics, Gdansk, Poland
Duration: 3 Jul 20195 Jul 2019
Conference number: 10


  • Autonomous vehicles
  • State estimation
  • Parameter estimation
  • Sensor fusion
  • Inertial measurement units
  • Motion estimation


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