Sensor Fusion for Accurate Computation of Yaw Rate and Absolute Velocity

• 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)