원문정보
초록
영어
This research propose a vehicle attitude estimation method using sensor fusion of speedometer and six-axis inertial sensor. External acceleration generated in a dynamic environment such as high-speed movement of a vehicle causes a considerable error in the attitude angle measured by the accelerometer. The external acceleration is estimated using velocity data obtained from speedometers mounted on most vehicles. The vehicle velocity is decomposed into three vector components using the angular velocity and attitude angle measured by the inertial sensor in the previous time step. The attitude angle estimated by the speedometer and the accelerometer is used to correct the error of the gyro sensor in the Kalman filter. In order to verify the performance of the proposed algorithm, experiments on a scenario of rapid acceleration/deceleration of a truck in a straight section and a scenario of high-speed driving on a long-distance highway are conducted.
목차
1. 서론
2. 연구 방법
2.1 가속도계를 이용한 외부 가속도 계산
2.2 3축 방향 외부 속도와 가속도 계산
2.3 Kalman Filter를 이용한 센서융합 알고리즘
3. 실험 결과
3.1 실험조건
3.2 직선구간에서의 화물차 급가속/감속 실험
3.3 도로 주행 실험
4. 결론
References