Paper Info
Title
Offset And Misalignment Estimation For The Online Calibration Of An Mems-Imu Using Fir-Filter Modulating Functions
Abstract
The paper addresses the problem of the reliable estimation of the vehicle motion using low cost, automotive grade IMUs. These sensors are prone to systematic errors that may reduce the quality of the motion estimation. The proposed method yields a real-time estimate of the intrinsic longitudinal and lateral acceleration offset as well as the extrinsic yaw misalignment due to inaccurate mounting. The estimation scheme is based on a kinematic model of the vehicle dynamics. From this viewpoint two algebraic regressor equations are derived and analyzed for their conditioning and estimation capabilities. By using an FIR-Filter based on the modulating functions approach we filter the algebraic expressions and obtain accurate time derivatives of the signals. The estimation procedures are evaluated and discussed with real measurement data of a low cost IMU taken in different driving situations.
Year
DOI
Venue
2018
10.1109/CCTA.2018.8511091
2018 IEEE CONFERENCE ON CONTROL TECHNOLOGY AND APPLICATIONS (CCTA)
Field
DocType
Citations 
Kinematics,Control theory,Computer science,Vehicle dynamics,Inertial measurement unit,Acceleration,Motion estimation,Finite impulse response,Offset (computer science),Calibration
Conference
0
PageRank 
References 
Authors
0.34
0
3
Name
Order
Citations
PageRank
Felix Huttner100.34
Jens Kalkkuhl27614.71
Johann Reger34017.29