Adaptive Kalman filter-based yaw rate estimation using accelerometers and wheel speed sensors

Hrgetić, Mario and Deur, Joško and Pavković, Danijel and Lakehal-Ayat, Mohsen and Tseng, Eric (2009) Adaptive Kalman filter-based yaw rate estimation using accelerometers and wheel speed sensors. = Adaptive Kalman filter-based yaw rate estimation using accelerometers and wheel speed sensors. In: 2009 ASME Dynamic Systems and Control Conference, DSCC2009, 12-14.10.2009., Hollywood, CA, United States.

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Official URL: http://proceedings.asmedigitalcollection.asme.org/...

Abstract

This paper presents a kinematic yaw rate estimator which combines measurements obtained from a pair of accelerometers and ABS wheel speed sensors of the non-driven wheels. The Extended Kalman Filter methodology has been used for realization of this sensor fusion-based estimator. The estimator adapts to variations in reliability levels of individual sensors. The estimator performance is validated and corresponding estimation errors are analyzed by computer simulations for different driving maneuvers.

Item Type: Conference or Workshop Item (Lecture)
Keywords (Croatian): adaptive Kalman filter; estimation errors; reliability level; sensor fusion; wheel speed sensors; yaw rate; yaw rate estimation; accelerometers; computer simulation; dynamical systems; Kalman filters; sensors; state estimation; wheels; estimation
Subjects: TECHNICAL SCIENCE
Divisions: 900 Department of Robotics and Production System Automation > 910 Chair of Engineering Automation
Indexed in Web of Science: No
Indexed in Current Contents: No
Date Deposited: 14 Apr 2015 08:58
Last Modified: 07 Jan 2019 13:41
URI: http://repozitorij.fsb.hr/id/eprint/3677

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