A Sensor Fusion Scheme for the Estimation of Vehicular Speed and Heading Angle

Jyh Ching Juang; Ching Fu Lin

doi:10.1109/TVT.2014.2352316

A Sensor Fusion Scheme for the Estimation of Vehicular Speed and Heading Angle

Jyh Ching Juang, Ching Fu Lin

Department of Electrical Engineering

Research output: Contribution to journal › Article › peer-review

18 Citations (Scopus)

Abstract

Accurate and reliable speed and heading angle data are essential for vehicular navigation, position reporting, cruise control, and advanced driver-assistance systems (ADAS). However, the heading angle derived based on Global Navigation Satellite System (GNSS) position information is sometimes misleading, particularly at low speed. This paper proposes the use of the sensor fusion approach to address this issue. The statistical properties of the standard speed/heading angle resolution process are analyzed, and an explicit expression of the variance is obtained. Accordingly, an adaptive two-stage filter architecture is proposed to fuse GNSS receiver and gyro measurements. This leads to a method that has the benefits of simple implementation, cost effectiveness, ease of tuning, and performance assurance.

Original language	English
Article number	6883235
Pages (from-to)	2773-2782
Number of pages	10
Journal	IEEE Transactions on Vehicular Technology
Volume	64
Issue number	7
DOIs	https://doi.org/10.1109/TVT.2014.2352316
Publication status	Published - 2015 Jul 1

All Science Journal Classification (ASJC) codes

Automotive Engineering
Aerospace Engineering
Electrical and Electronic Engineering
Applied Mathematics

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10.1109/TVT.2014.2352316

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abstract = "Accurate and reliable speed and heading angle data are essential for vehicular navigation, position reporting, cruise control, and advanced driver-assistance systems (ADAS). However, the heading angle derived based on Global Navigation Satellite System (GNSS) position information is sometimes misleading, particularly at low speed. This paper proposes the use of the sensor fusion approach to address this issue. The statistical properties of the standard speed/heading angle resolution process are analyzed, and an explicit expression of the variance is obtained. Accordingly, an adaptive two-stage filter architecture is proposed to fuse GNSS receiver and gyro measurements. This leads to a method that has the benefits of simple implementation, cost effectiveness, ease of tuning, and performance assurance.",

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A Sensor Fusion Scheme for the Estimation of Vehicular Speed and Heading Angle

Abstract

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