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• W2754703579 abstract "To improve the performance of attitude and heading reference systems for moving vehicles, an effective orientation estimation method is proposed. The method involves the use of a low-cost magnetic, angular rate, and gravity sensor and an odometer. This study addresses the problems of large and abrupt changes in acceleration by moving vehicles and the issue of obtaining precise, long-term, drift-free attitude estimates. A low-pass filter is used to eliminate the high-frequency part of linear acceleration. An improved method to evaluate motion status is proposed and utilized to compensate for filtered accelerometer measurement when the vehicle is accelerating or steering. The proposed method uses an effective adaptive Kalman filter based on the error state model to reduce dynamic perturbations. Filter gain is adaptively tuned under different moving modes by adjusting the noise matrix. Experiments are performed to validate the algorithms under realistic motions, and simulations are implemented to examine the..." @default.
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• W2754703579 date "2017-09-01" @default.
• W2754703579 modified "2023-09-25" @default.
• W2754703579 title "Novel method to integrate MARG and an odometer into AHRS for moving vehicles" @default.
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• W2754703579 doi "https://doi.org/10.1177/1687814017727972" @default.
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