liu.seSearch for publications in DiVA
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Sensor Fusion in Smartphones: with Application to Car Racing Performance Analysis
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2013 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesisAlternative title
Sesnorfusion i Smartphones : med Tillämpning Inom Bilkörningsanalys (Swedish)
Abstract [en]

Today's smartphones are equipped with a variety of different sensors such as GPS receivers, accelerometers, gyroscopes and magnetometers, making smartphones viable tools in many applications. The computational capacity of smartphones allows for software applications running advanced signal processing algorithms.

Thus, attaching a smartphone inside a car makes it possible to estimate kinematics of the vehicle by fusing information from the different sensors inside the smartphone. Fusing information from different sources for improving estimation quality is a well-known problem and there exist a lot of methods and algorithms in this area.

This thesis approaches the sensor fusion problem of estimating kinematics of cars using smartphones for the purpose of analysing driving performance. Different varieties of the coordinated turn model for describing the vehicle dynamics are investigated. Also, different measurement models are evaluated where bias errors of the sensors are taken into consideration. Pre-filtering and construction of pseudo-measurements are also considered which allow for use of state space models with a lower dimension.

Abstract [sv]

Dagens smartphones är utrustade med en rad olika typer av sensorer såsom GPS mottagare, accelerometrar, gyroskop och magnetometrar vilket medför ett stort användningsområde. Beräkningskapaciteten hos smartphones gör det möjligt för mjukvaruapplikationer att använda sig av avancerade algoritmer för signalbehandling.

Det är därför möjligt att placera en smartphone inuti en bil och skatta bilens kinematik genom att kombinera informationen från de olika sensorerna. Att fusionera information från olika källor för att erhålla bättre skattningar är ett välkänt område där det finns många metoder och algoritmer utvecklade.

Detta examensarbete behandlar sensorfusionsproblemet att skatta bilars kinematik med hjälp av smartphones för syftet att kunna analysera körprestanda. Olika varianter av en coordinated turn modell för att beskriva bilens dynamik undersöks. Dessutom testas olika modeller för sensorerna där hänsyn till exempelvis biasfel tas. Förbehandling av data och pseudomätningar testas också vilket gör det möjligt att använda tillståndsmodeller med låg dimension.

Place, publisher, year, edition, pages
2013. , 122 p.
Keyword [en]
kalman, smoother, smartphone, sensor fusion, vehicle, filter, estimation, kinematics, particle, imu, gps
National Category
Control Engineering Signal Processing
Identifiers
URN: urn:nbn:se:liu:diva-94170ISRN: LiTH-ISY-EX--13/4702--SEOAI: oai:DiVA.org:liu-94170DiVA: diva2:629639
External cooperation
Escenda Interactive AB
Subject / course
Automatic Control
Presentation
2013-06-11, Algoritmen, B-Huset, Linköpings Universitet, Linköping, 10:15 (English)
Supervisors
Examiners
Available from: 2013-06-17 Created: 2013-06-17 Last updated: 2013-06-18Bibliographically approved

Open Access in DiVA

fulltext(9762 kB)5013 downloads
File information
File name FULLTEXT01.pdfFile size 9762 kBChecksum SHA-512
e9d6c2db845dbf4d61711ad1202525e7225d8cb7e4299e7c73bb5185e6c03810685edfea4cf05608a5edbd653971c050f3ad5e78b3c356c1d2c40fbb155ee147
Type fulltextMimetype application/pdf

Search in DiVA

By author/editor
Wallin, JonasZachrisson, Joakim
By organisation
Automatic ControlThe Institute of Technology
Control EngineeringSignal Processing

Search outside of DiVA

GoogleGoogle Scholar
Total: 5013 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

urn-nbn

Altmetric score

urn-nbn
Total: 4004 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf