In this study a method is presented for estimating the orientation of an inertial measurement unit (IMU) located within an automobile, using only the measurements from the IMU itself. The orientation estimation problem is posed as a non-linear filtering problem, which is solved using a marginalized particle filter. The performance of the proposed method is evaluated using a large collection of real-world data, collected by multiple drivers. The drivers used their own smartphones and had no restrictions on smartphone handling during drives. The orientation accuracy achieved with the proposed method is in the order of a few degrees; 50% of cases were below 5° and 90% of cases were below 20°.
Inertial sensor driven smartphone and automobile coordinate system alignment
2017-10-01
805834 byte
Conference paper
Electronic Resource
English
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