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Sensor Fusion for A...
Sensor Fusion for Accurate Computation of Yaw Rate and Absolute Velocity
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- Gustafsson, Fredrik (författare)
- Linköpings universitet,Reglerteknik,Tekniska högskolan
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- Persson, Niclas (författare)
- NIRA Dynamics AB, Sweden
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- Ahlqvist, Stefan (författare)
- NIRA Dynamics AB, Sweden
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- Forssell, Urban (författare)
- NIRA Dynamics AB, Sweden
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(creator_code:org_t)
- 2001-03-05
- 2001
- Engelska.
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Serie: LiTH-ISY-R, 1400-3902 ; 2377
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Ingår i: Proceedings of the SAE 2001 World Congress. - 400 Commonwealth Drive, Warrendale, PA, United States : SAE International.
- Relaterad länk:
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http://urn.kb.se/res...
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http://www.control.i...
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https://liu.diva-por... (primary) (Raw object)
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https://urn.kb.se/re...
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https://doi.org/10.4...
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https://urn.kb.se/re...
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Abstract
Ämnesord
Stäng
- 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.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Nyckelord
- Sensor
- Fusion
- Yaw rate
- Absolute
- Velocity
- Tire
- Radius
- Kalman filter
- Automatic control
- Reglerteknik
Publikations- och innehållstyp
- ref (ämneskategori)
- kon (ämneskategori)
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