Dynamic sensor zeroing algorithm of 6D IMU mounted on ground vehicles

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Abstract

The main focus of this paper is to compensate the steady state offset error of the 6D IMU which provides the measurements that include the vehicle linear accelerations and angular rates of all three axes. Additionally, the sensor compensation algorithm exploits the wheel speed data and the steering angle information, since they are already available in most of the modern mass production vehicles. These inputs are combined with the inverse vehicle kinematics to estimate the steady state offset error of each sensor inputs as it is done in a disturbance observer, and the raw sensor measurements are compensated by the estimated offset errors. The stability of the error dynamics regarding the integrated signal processing system is verified, and finally, the performance of the system is tested via experiments based on a real production SUV.

Key Words

Accelerometer Angular velocities Calibration Observers Stability analysis Vehicle dynamics 

Nomenclature

m

vehicle mass

g

gravitational constant

lf

distance between C.G. and front axle

lr

distance between C.G. and rear axle

Iz

moment of inertia about z-axis

Cf

front tire cornering stiffness

Cr

rear tire cornering stiffness

β

side slip angle at C.G

νx

longitudinal velocity at C.G.

νy

lateral velocity at C.G.

νz

vertical velocity at C.G.

αx

longitudinal acceleration measured at C.G.

αy

lateral acceleration measured at C.G.

αz

vertical acceleration measured at C.G

ϕ

roll angle

θ

pitch angle

ψ

yaw angle

p

roll rate measured at C.G.

q

pitch rate measured at C.G.

r

yaw rate measured at C.G.

gf

front tire steering angle

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References

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Copyright information

© The Korean Society of Automotive Engineers and Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  1. 1.Mechanical Engineering Department, KAISTKorea Advanced Institute of Science and TechnologyDaejeonKorea

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