Abstract
This contribution investigates the sensor fusion of a three antenna GPS-system (position, velocity, yaw, pitch and roll angles) and an inertial measurement unit (IMU, angular velocities and accelerations) to get a three dimensional motion estimation of a vehicle. To handle the different delays of GPS measurements and the nonlinearities in the measured system a Sequential Enhanced Kalman Filter is used. Bias and gain errors of the IMU are estimated to allow a precise calibration of angular velocities and accelerations.
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© 2014 Springer Fachmedien Wiesbaden
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Bechtloff, J. (2014). Fast identification of a detailed two-track model with onboard sensors and GPS. In: Pfeffer, P. (eds) 5th International Munich Chassis Symposium 2014. Proceedings. Springer Vieweg, Wiesbaden. https://doi.org/10.1007/978-3-658-05978-1_23
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DOI: https://doi.org/10.1007/978-3-658-05978-1_23
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Publisher Name: Springer Vieweg, Wiesbaden
Print ISBN: 978-3-658-05977-4
Online ISBN: 978-3-658-05978-1
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