Abstract In current vehicles, redundant sensors with heterogeneous measurement principles are applied in increasing numbers. Taking the advantage of these already existing redundancies, the concept of a central virtual sensor for the estimation of kinematic vehicle properties is created, based on a set of close-to-series sensors, consisting of a MEMS inertial measurement unit, a GPS receiver, and odometry sensors. Furthermore, a real-time capable implementation of this architecture is realized, using a linearized Error-State-Space Kalman filter. This fusion filter is enhanced by a correction algorithm for measurement latencies of multiple sensors and a two-step plausibilization of raw measurement data. In addition, an integrated assessment of the data quality is implemented. It describes data consistency using an integrity measure and data accuracy with a virtual datasheet.
Data Fusion for Precise Localization
Handbook of Driver Assistance Systems ; 605-646
2016
2015-12-08
42 pages
Article/Chapter (Book)
Electronic Resource
English
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