Extended Kalman filter for vehicle tracking using road surface vibration measurements

• This paper addresses a novel method for vehicle tracking using an extended Kalman filter and measurements of road surface vibrations from a single accelerometer. First, a measurement model for vibrations caused by vehicular road traffic is developed. Then the identifiability of the involved parameters is analyzed. Finally, the measurement model is combined with a constant speed motion model and the Kalman filter is derived. Simulation and measurement results indicate that the approach is feasible and show where further development is needed.

Subject headings

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)

Keyword

Reglerteknik

Control Engineering

Publication and Content Type

ref (subject category)

kon (subject category)