Self-calibration algorithm for an IMU in two-wheeled vehicles: design and experimental validation
| Autor: | Silvia Strada, Claudio De Tommasi, Simone Gelmini, Mara Tanelli, M. Fouka, Sergio M. Savaresi |
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| Jazyk: | angličtina |
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Inertial frame of reference business.industry Computer science 020302 automobile design & engineering Gyroscope 02 engineering and technology Radio navigation Accelerometer law.invention Geolocation 020901 industrial engineering & automation 0203 mechanical engineering Inertial measurement unit law Calibration Computer vision Satellite Artificial intelligence business |
| Zdroj: | ITSC |
| Popis: | In this paper an algorithm for the estimation of the three mounting angles (roll, pitch, and yaw) of accelerometers and gyroscopes within Inertial Measurement Units (IMUs) is presented. Such a self-calibration method is focused for telematic boxes (e-Boxes) installed on two-wheeled vehicles, whose IMUs' axes often result not to be aligned with the vehicle reference system. Previous methods for axes calibration commonly use satellite-based radionavigation data to determine the unknown mounting angles. In this paper we propose an energy-efficient alignment procedure which limits the use of geolocation data. The aspects of data selection and real-time implementation of our method are taken particularly into account. The proposed approach is validated and performance are analyzed on experimental data collected with tests performed with a motorcycle equipped with three e-Boxes mounted in different positions and orientations. The analysis of the real measured driving data proves the effectiveness of the approach in aligning the sensors' axes in all three directions. |
| Databáze: | OpenAIRE |
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