Title :
A motion model for articulated vehicles and a distributed acceleration measurement system
Author :
Sirola, Niilo ; Rouhe, Jarkko
Author_Institution :
Dept. of Math., Tampere Univ. of Technol., Tampere, Finland
Abstract :
A motion model is developed for a trailer-truck combination that fuses the differential equations governing the motion of the trailer with the dynamics model of the truck. Three different parametrisations of the vehicle state are proposed. The resulting model is a stepping stone for a filtering solution for tracking the position and attitude of articulated vehicles, such as trailer-trucks, articulated buses or work machines, or even trains.
Keywords :
acceleration measurement; motion measurement; articulated vehicles; distributed acceleration measurement system; filtering solution; motion model; trailer truck combination; Acceleration; Accelerometers; Computational modeling; Mathematical model; Sensors; Vehicle dynamics; Vehicles;
Conference_Titel :
Positioning Navigation and Communication (WPNC), 2010 7th Workshop on
Conference_Location :
Dresden
Print_ISBN :
978-1-4244-7158-4
DOI :
10.1109/WPNC.2010.5650556
