By Topic

High accuracy road vehicle state estimation using extended Kalman filter

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
M. Wada ; Inst. of Ind. Sci., Tokyo Univ., Japan ; Kang Sup Yoon ; H. Hashimoto

This paper describes the theoretical development and evaluation of the multisensor navigation system for high speed road vehicle. The paper focuses on the design of the nonlinear process model that is able to cope with vehicle slip using multisensor data from the inertial sensors, odometry, and D-GPS. The algorithm was evaluated using a vehicle dynamics simulator built to allow the simulation of a wide variety of driving scenarios. The simulation results show that the scheme is able to significantly reduce the errors in vehicle position and orientation estimates. They also show that the scheme allows slip angle estimation and accelerometer bias estimation

Published in:

Intelligent Transportation Systems, 2000. Proceedings. 2000 IEEE

Date of Conference:

2000