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Vehicle Location Estimation by Dead Reckoning Using Inertial Measurement Unit Sensor in MEMS


Affiliations
1 Department of ECE, Tejaa Shakthi Institute of Technology for Women, Coimbatore, Tamilnadu-641659, India
2 Tejaa Shakthi Institute of Technology for Women, Coimbatore, Tamilnadu-641659, India
     

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This paper presents estimation of vehicle location by accurate determination of its attitude using low cost MEMS inertial measurement unit (IMU) sensor. This comprises of tri-axial gyroscope and a tri-axial accelerometer. Because of drift problem low-cost MEMS gyro cannot be used. An accelerometer is used to correct this drift problem. However this is not possible because accelerometer measurements are corrupted by external accelerations produced due to vehicle movements. In this paper we show that vehicle kinematics allow the removal of external acceleration from the lateral and vertical axis accelerometer measurements. A adaptive Filter is designed for the conjunction of accelerometer and gyroscope to accurately determine the attitude of vehicle. The proposed filter is able to maintain sub-degree estimation accuracy even under severe and prolonged dynamic condition.


Keywords

Attitude Estimation, Vehicle Attitude, MEMS IMU, External Acceleration.
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Abstract Views: 194

PDF Views: 1




  • Vehicle Location Estimation by Dead Reckoning Using Inertial Measurement Unit Sensor in MEMS

Abstract Views: 194  |  PDF Views: 1

Authors

S. Abinaya Shivani
Department of ECE, Tejaa Shakthi Institute of Technology for Women, Coimbatore, Tamilnadu-641659, India
V. Nivetha
Department of ECE, Tejaa Shakthi Institute of Technology for Women, Coimbatore, Tamilnadu-641659, India
J. Mubeena
Department of ECE, Tejaa Shakthi Institute of Technology for Women, Coimbatore, Tamilnadu-641659, India
K. Roshni Rajan
Department of ECE, Tejaa Shakthi Institute of Technology for Women, Coimbatore, Tamilnadu-641659, India
R. Prabakaran
Department of ECE, Tejaa Shakthi Institute of Technology for Women, Coimbatore, Tamilnadu-641659, India
N. J. R. Muniraj
Tejaa Shakthi Institute of Technology for Women, Coimbatore, Tamilnadu-641659, India

Abstract


This paper presents estimation of vehicle location by accurate determination of its attitude using low cost MEMS inertial measurement unit (IMU) sensor. This comprises of tri-axial gyroscope and a tri-axial accelerometer. Because of drift problem low-cost MEMS gyro cannot be used. An accelerometer is used to correct this drift problem. However this is not possible because accelerometer measurements are corrupted by external accelerations produced due to vehicle movements. In this paper we show that vehicle kinematics allow the removal of external acceleration from the lateral and vertical axis accelerometer measurements. A adaptive Filter is designed for the conjunction of accelerometer and gyroscope to accurately determine the attitude of vehicle. The proposed filter is able to maintain sub-degree estimation accuracy even under severe and prolonged dynamic condition.


Keywords


Attitude Estimation, Vehicle Attitude, MEMS IMU, External Acceleration.

References