Sensor Fusion for Accurate Computation of Yaw Rate and Absolute Velocity
2001 (English)Report (Other academic)
In the presented sensor fusion approach, centralized ﬁltering of related sensor signals is used to improve and correct low price sensor measurements. From this, we compute high-quality state information as drift-free yaw rate and exact velocity (accounting for unknown tire radius and slipping wheels on 4WD vehicles). The basic tool here is a Kalman ﬁlter supported by change detection for sensor diagnosis. Results and experience of real-time implementations are presented.
Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2001. , 10 p.
LiTH-ISY-R, ISSN 1400-3902 ; 2377
Sensor, Fusion, Yaw rate, Absolute, Velocity, Tire, Radius, Kalman filter
IdentifiersURN: urn:nbn:se:liu:diva-55802ISRN: LiTH-ISY-R-2377OAI: oai:DiVA.org:liu-55802DiVA: diva2:316528