IMPROVED VEHICLE PARAMETER ESTIMATION USING SENSOR FUSION BY KALMAN FILTERING

Erik Steinmetz, Ragne Emardson, Per Jarlemark

Abstract

Within several applications concerning the improvement of vehicle safety, accurate systems for determination of position, velocity and acceleration are useful. We present a system for accurate determination of these parameters using a sensor fusion technique. The main focus is on how GPS carrier phase data and accelerometer data are modeled and integrated in a Kalman filter that provides both estimates and accompanying uncertainties.

Keywords

sensor fusion, Kalman filter, Global positioning system (GPS)

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IMEKO-WC-2009-TC21-641.pdf

DOI

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IMEKO TC

TC21 - Mathematical Tools for Measurements

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