Transactions of the Korean Society of Automotive Engineers (한국자동차공학회논문집)

The Korean Society of Automotive Engineers (한국자동차공학회)
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Vehicle Orientation Estimation by Using Magnetometer and Inertial Sensors

3축 자기장 센서 및 관성센서를 이용한 차량 방위각 추정 방법

  • Hwang, Yoonjin (Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology) ;
  • Choi, Seibum (Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology)
  • 황윤진 (한국과학기술원 기계공학과) ;
  • 최세범 (한국과학기술원 기계공학과)
  • Received : 2015.12.08
  • Accepted : 2016.03.07
  • Published : 2016.07.01
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Abstract

The vehicle attitude and sideslip is critical information to control the vehicle to prevent from unintended motion. Many of estimation strategy use bicycle model or IMU integration, but both of them have limits on application. The main purpose of this paper is development of vehicle orientation estimator which is robust to various vehicle state and road shape. The suggested estimator use 3-axis magnetometer, yaw rate sensor and lateral acceleration sensor to estimate three Euler angles of vehicle. The estimator is composed of two individual observers: First, comparing the known magnetic field and gravity with measured value, the TRIAD algorithm calculates optimal rotational matrix when vehicle is in static or quasi-static condition. Next, merging 3-axis magnetometer with inertial sensors, the extended Kalman filter is used to estimate vehicle orientation under dynamic condition. A validation through simulation tools, Carsim and Simulink, is performed and the results show the feasibility of the suggested estimation method.

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References

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