Applying a three-antenna gps and suspension displacement sensors to a road vehicle

Ling Yuan Hsu*, Tsung-Lin Chen

*Corresponding author for this work

研究成果: Conference contribution同行評審

3 引文 斯高帕斯(Scopus)

摘要

This paper presents a novel sensor fusion system for road vehicles, which mainly composed of a three-antenna global positioning system (GPS), and four suspension displacement sensors. This sensor system not only obtains accurate six degree-of-freedom (DOF) information for vehicle dynamics but also road angles in real time. The road angles and vehicle attitude are difficult to be detected using on-board sensors because they are often coupled in the sensor measurements. Most approaches ignore this coupling effect; only a few try to obtain them by state estimations using vehicle models. The proposed method solve this problem, without requiring any vehicle model, by incorporating a non-inertial sensor (suspension displacement sensors) with inertial sensors (three-antenna GPS). In a demonstrating case, an additional inertial measurement unit (IMU) is included in the senor system to improve the estimation accuracy. Simulation results indicate that the accuracy of the estimated vehicle attitude is less than 0.85 deg, and that of the estimated road angles is less than 0.3 deg. Additionally, the estimation accuracy of the vertical displacement is improved from 3 m to 0.248 m.

原文English
主出版物標題IEEE Sensors 2009 Conference - SENSORS 2009
頁面1593-1597
頁數5
DOIs
出版狀態Published - 1 十二月 2009
事件IEEE Sensors 2009 Conference - SENSORS 2009 - Christchurch, New Zealand
持續時間: 25 十月 200928 十月 2009

出版系列

名字Proceedings of IEEE Sensors

Conference

ConferenceIEEE Sensors 2009 Conference - SENSORS 2009
國家New Zealand
城市Christchurch
期間25/10/0928/10/09

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