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http://dx.doi.org/10.7840/kics.2015.40.9.1837

Vehicular Pitch Estimation Algorithm with ACF/IMMKF Based on GPS/IMU/OBD Data Fusion  

Kim, Ju-won (Hanyang University Department of Electronics and Computer Engineering)
Lee, Myung-su (Department of Electronics and Computer Engineering, Hanyang University)
Lee, Sang-sun (Department of Electronics and Computer Engineering, Hanyang University)
Publication Information
The Journal of Korean Institute of Communications and Information Sciences / v.40, no.9, 2015 , pp. 1837-1845 More about this Journal
Abstract
The longitudinal velocity is necessary for accurate vehicular positioning in urban environment. The pitch angle, which is a road slope, should be calculated to acquire the longitudinal velocity. However, it is impossible to consider very accurate pitch, when using a sensor and an algorithm. That's why process noise and positioning stimation error of IMU should be adjusted to the driving environment and fuse GPS, OBD data with ACF which consist of AKF, CF in this paper. Then, final pitch angle which is appropriate for driving environment is estimated by IMMKF in order to optimize the system model according to road slope models.
Keywords
Interactive mutiple model; Complementary Filter; Adaptive Kalman Filter; Pitch; Road slope; IMU; GPS; OBD;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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