Experimental validation of vehicle velocity, attitude and IMU bias estimation

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

Onderzoeksoutput: Bijdrage aan tijdschriftCongresartikelAcademicpeer review

1 Citaat (Scopus)
1 Downloads (Pure)

Uittreksel

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.
Originele taal-2Engels
Pagina's (van-tot)118-123
Aantal pagina's6
TijdschriftIFAC-PapersOnLine
Volume52
Nummer van het tijdschrift8
DOI's
StatusGepubliceerd - jul 2019
Evenement10th IFAC Symposium on Intelligent Autonomous Vehicles - Gdańsk University of Technology, Faculty of Electronics, Telecommunications and Informatics, Gdansk, Polen
Duur: 3 jul 20195 jul 2019
Congresnummer: 10

Vingerafdruk

Units of measurement
State estimation
Parameter estimation
Costs
Nonlinear systems
Sensors

Citeer dit

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title = "Experimental validation of vehicle velocity, attitude and IMU bias estimation",
abstract = "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.",
keywords = "Autonomous vehicles, State estimation, Parameter estimation, Sensor fusion, Inertial measurement units, Motion estimation",
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Experimental validation of vehicle velocity, attitude and IMU bias estimation. / Scholte, Wouter (Corresponding author); Marco, Vicent Rodrigo (Corresponding author); Nijmeijer, Henk (Corresponding author).

In: IFAC-PapersOnLine, Vol. 52, Nr. 8, 07.2019, blz. 118-123.

Onderzoeksoutput: Bijdrage aan tijdschriftCongresartikelAcademicpeer review

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AU - Marco, Vicent Rodrigo

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N2 - 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.

AB - 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.

KW - Autonomous vehicles

KW - State estimation

KW - Parameter estimation

KW - Sensor fusion

KW - Inertial measurement units

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