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Sensor Fusion for Accurate Computation of Yaw Rate and Absolute Velocity
Technical Paper
2001-01-1064
ISSN: 0148-7191, e-ISSN: 2688-3627
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Sector:
Event:
SAE 2001 World Congress
Language:
English
Abstract
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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Citation
Gustafsson, F., Ahlqvist, S., Forssell, U., and Persson, N., "Sensor Fusion for Accurate Computation of Yaw Rate and Absolute Velocity," SAE Technical Paper 2001-01-1064, 2001, https://doi.org/10.4271/2001-01-1064.Also In
References
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