Sensor Fusion for Accurate Computation of Yaw Rate and Absolute Velocity
2001 (English)In: Proceedings of the SAE 2001 World Congress, 2001Conference paper (Refereed)
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
Sensor, Fusion, Yaw rate, Absolute, Velocity, Tire, Radius, Kalman filter
IdentifiersURN: urn:nbn:se:liu:diva-90811DOI: 10.4271/2001-01-1064OAI: oai:DiVA.org:liu-90811DiVA: diva2:616382
SAE 2001 World Congress, Detroit, MI, USA, March, 2001