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An Improved Yaw Estimation Algorithm for Land Vehicles Using MARG Sensors

This paper presents a linear Kalman filter for yaw estimation of land vehicles using magnetic angular rate and gravity (MARG) sensors. A gyroscope measurement update depending on the vehicle status and constraining yaw estimation is introduced. To determine the vehicle status, the correlations betwe...

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Detalles Bibliográficos
Autores principales: Shi, Gang, Li, Xisheng, Jiang, Zhengfu
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2018
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6210731/
https://www.ncbi.nlm.nih.gov/pubmed/30262763
http://dx.doi.org/10.3390/s18103251
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author Shi, Gang
Li, Xisheng
Jiang, Zhengfu
author_facet Shi, Gang
Li, Xisheng
Jiang, Zhengfu
author_sort Shi, Gang
collection PubMed
description This paper presents a linear Kalman filter for yaw estimation of land vehicles using magnetic angular rate and gravity (MARG) sensors. A gyroscope measurement update depending on the vehicle status and constraining yaw estimation is introduced. To determine the vehicle status, the correlations between outputs from different sensors are analyzed based on the vehicle kinematic model and Coriolis theorem, and a vehicle status marker is constructed. In addition, a two-step measurement update method is designed. The method treats the magnetometer measurement update separately after the other updates and eliminates its impact on attitude estimation. The performances of the proposed algorithm are tested in experiments and the results show that: the introduced measurement update is an effective supplement to the magnetometer measurement update in magnetically disturbed environments; the two-step measurement update method makes attitude estimation immune to errors induced by magnetometer measurement update, and the proposed algorithm provides more reliable yaw estimation for land vehicles than the conventional algorithm.
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spelling pubmed-62107312018-11-02 An Improved Yaw Estimation Algorithm for Land Vehicles Using MARG Sensors Shi, Gang Li, Xisheng Jiang, Zhengfu Sensors (Basel) Article This paper presents a linear Kalman filter for yaw estimation of land vehicles using magnetic angular rate and gravity (MARG) sensors. A gyroscope measurement update depending on the vehicle status and constraining yaw estimation is introduced. To determine the vehicle status, the correlations between outputs from different sensors are analyzed based on the vehicle kinematic model and Coriolis theorem, and a vehicle status marker is constructed. In addition, a two-step measurement update method is designed. The method treats the magnetometer measurement update separately after the other updates and eliminates its impact on attitude estimation. The performances of the proposed algorithm are tested in experiments and the results show that: the introduced measurement update is an effective supplement to the magnetometer measurement update in magnetically disturbed environments; the two-step measurement update method makes attitude estimation immune to errors induced by magnetometer measurement update, and the proposed algorithm provides more reliable yaw estimation for land vehicles than the conventional algorithm. MDPI 2018-09-27 /pmc/articles/PMC6210731/ /pubmed/30262763 http://dx.doi.org/10.3390/s18103251 Text en © 2018 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Shi, Gang
Li, Xisheng
Jiang, Zhengfu
An Improved Yaw Estimation Algorithm for Land Vehicles Using MARG Sensors
title An Improved Yaw Estimation Algorithm for Land Vehicles Using MARG Sensors
title_full An Improved Yaw Estimation Algorithm for Land Vehicles Using MARG Sensors
title_fullStr An Improved Yaw Estimation Algorithm for Land Vehicles Using MARG Sensors
title_full_unstemmed An Improved Yaw Estimation Algorithm for Land Vehicles Using MARG Sensors
title_short An Improved Yaw Estimation Algorithm for Land Vehicles Using MARG Sensors
title_sort improved yaw estimation algorithm for land vehicles using marg sensors
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6210731/
https://www.ncbi.nlm.nih.gov/pubmed/30262763
http://dx.doi.org/10.3390/s18103251
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