加速度誤差分離に基づくビークル走行軌跡・姿勢角推定アルゴリズムの開発

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  • Development of Vehicle Trajectory and Attitude Estimation Algorithm Based on Acceleration Error Separation
  • カソクド ゴサ ブンリ ニ モトズク ビークル ソウコウ キセキ シセイカク スイテイ アルゴリズム ノ カイハツ

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Various methods to estimate a vehicle trajectory and attitude using the Global Positioning Systems (GPS) and Inertial Measurement Unit (IMU) are proposed ordinary. The features of this research are the real-time GPS-IMU fusion based on the discrete-time Kalman filter described by a simplified linear state equation. A method to simplify the state equation is based on the precise vehicle position data measured by GPS and the acceleration error caused by vehicle attitude error estimated by Kalam filter. The additional method to simplify the state equation is to remove the coordinate transformation from the state equation. The vehicle trajectory is estimated correctly by the specific force cancelled the acceleration error from the measured data and the vehicle attitude is estimated correctly by the orthogonal geometry between specific force and acceleration error. This paper describes the vehicle trajectory and attitude estimation method by the above acceleration error separation and the practical evaluation results about this trajectory and attitude estimator simultaneously.

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