Title :
Estimation of Vehicle Turning Radius Based on Federal Kalman Filter
Author :
Wang, Xianbin ; Shi, Shuming
Author_Institution :
Traffic Coll., North East Forestry Univ., Harbin, China
Abstract :
This paper presents a new method for identifying turning radius using a Federal Kalman Filter and a vehicle dynamic model. A dynamic model, which includes vehicle radius, is first introduced. The Federal Kalman Filter is then implemented using the measurements of GPS and INS sensors. From the Federal Kalman Filter, the vehicle turning radius can be precisely estimated. Experimental results verify that the estimation scheme is giving appropriate estimates of the vehicle turning radius.
Keywords :
Global Positioning System; Kalman filters; inertial navigation; vehicle dynamics; GPS; INS sensors; federal Kalman filter; vehicle dynamic model; vehicle turning radius estimation; Acceleration; Accelerometers; Educational institutions; Electronic mail; Global Positioning System; State estimation; Traffic control; Turning; Vehicle driving; Vehicle dynamics; Federal Kalman Filter; estimation; turning radius;
Conference_Titel :
Intelligent Computation Technology and Automation (ICICTA), 2010 International Conference on
Conference_Location :
Changsha
Print_ISBN :
978-1-4244-7279-6
Electronic_ISBN :
978-1-4244-7280-2
DOI :
10.1109/ICICTA.2010.585
