In the presented sensor fusion approach, centralized filtering of related sensor signals is used to improve and correct low price sensor measurements. From this, we compute high-quality state information as drift-free yaw rate and exact velocity (accounting for unknown tire radius and slipping wheels on 4WD vehicles). The basic tool here is a Kalman filter supported by change detection for sensor diagnosis. Results and experience of real-time implementations are presented.


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    Title :

    Sensor Fusion for Accurate Computation of Yaw Rate and Absolute Velocity


    Additional title:

    Sae Technical Papers


    Contributors:

    Conference:

    SAE 2001 World Congress ; 2001



    Publication date :

    2001-03-05




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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