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Sensor Fusion for Accurate Computation of Yaw Rate and Absolute Velocity
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
NIRA Dynamics AB, Sweden.
NIRA Dynamics AB, Sweden.
NIRA Dynamics AB, Sweden.
2001 (English)In: Proceedings of the SAE 2001 World Congress, 2001Conference paper (Refereed)
Abstract [en]

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
Keyword [en]
Sensor, Fusion, Yaw rate, Absolute, Velocity, Tire, Radius, Kalman filter
National Category
Control Engineering
URN: urn:nbn:se:liu:diva-90811DOI: 10.4271/2001-01-1064OAI: diva2:616382
SAE 2001 World Congress, Detroit, MI, USA, March, 2001

SAE 2001-01-1064

Available from: 2013-04-16 Created: 2013-04-07 Last updated: 2013-08-28

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Gustafsson, Fredrik
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Automatic ControlThe Institute of Technology
Control Engineering

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ReferencesLink to record
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