标题:Research on the automotive sensor-aided low-cost inertial navigation system for land vehicles
作者:Fang, Susu; Wang, Zengcai; Zhao, Lei
作者机构:[Fang, Susu; Wang, Zengcai; Zhao, Lei] Shandong Univ, Sch Mech Engn, Key Lab High Efficiency & Clean Mech Mfg, Minist Educ, 17923 Jingshi Rd, Jinan 25 更多
通讯作者:Wang, ZC
通讯作者地址:[Wang, ZC]Shandong Univ, Sch Mech Engn, Key Lab High Efficiency & Clean Mech Mfg, Minist Educ, 17923 Jingshi Rd, Jinan 250061, Shandong, Peoples R Chi 更多
来源:ADVANCES IN MECHANICAL ENGINEERING
出版年:2019
卷:11
期:1
DOI:10.1177/1687814018822876
关键词:Vehicle electronic control; automotive sensors; adaptive Kalman filter;; inertial navigation system
摘要:When a low-cost micro-electro-mechanical system inertial measurement unit is used for a vehicle navigation system, errors will quickly accumulate because of the large micro-electro-mechanical system sensor measurement noise. To solve this problem, an automotive sensor-aided low-cost inertial navigation system is proposed in this article. The error-state model of the strapdown inertial navigation system has been derived, and the measurements from the wheel speed sensor and steer angle sensor are used as the new observation vector. Then, the micro-electro-mechanical system inertial measurement unit/wheel speed sensor/steer angle sensor-integrated system is established based on adaptive Kalman filtering. The experimental results show that the positioning error of micro-electro-mechanical system inertial measurement unit/wheel speed sensor/steer angle sensor is 94.67%, 98.88%, and 97.88% less than the values using pure strapdown inertial navigation system in the east, north, and down directions, respectively. The yaw angle error is reduced to less than 1 degrees, and the vehicle velocity estimation of micro-electro-mechanical system inertial measurement unit/wheel speed sensor/steer angle sensor-integrated navigation system is closer to the reference value. These results show the precision of the integrated navigation solution.
收录类别:SCOPUS;SCIE
资源类型:期刊论文
原文链接:https://www.scopus.com/inward/record.uri?eid=2-s2.0-85060847899&doi=10.1177%2f1687814018822876&partnerID=40&md5=45b024e0c61b0f5647e1ac9267a2d251
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