Extended Kalman filter for vehicle tracking using road surface vibration measurements

Author

Hostettler, Roland ; Birk, Wolfgang ; Nordenvaad, Magnus L.

Author_Institution

Dept. of Comput. Sci., Electr. & Space Eng., Lulea Univ. of Technol., Lulea, Sweden

fYear

2012

fDate

10-13 Dec. 2012

Firstpage

5643

Lastpage

5648

Abstract

This paper addresses a novel method for vehicle tracking using an extended Kalman filter and measurements of road surface vibrations from a single accelerometer. First, a measurement model for vibrations caused by vehicular road traffic is developed. Then the identifiability of the involved parameters is analyzed. Finally, the measurement model is combined with a constant speed motion model and the Kalman filter is derived. Simulation and measurement results indicate that the approach is feasible and show where further development is needed.

Keywords

Kalman filters; accelerometers; identification; nonlinear filters; road traffic; road vehicles; tracking; traffic engineering computing; vibration measurement; accelerometer; constant speed motion model; extended Kalman filter; parameter identifiability; road surface vibration measurement; vehicle tracking; vehicular road traffic; Accelerometers; Kalman filters; Radar tracking; Roads; Sensors; Vehicles; Vibration measurement;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control (CDC), 2012 IEEE 51st Annual Conference on

Conference_Location

Maui, HI

ISSN

0743-1546

Print_ISBN

978-1-4673-2065-8

Electronic_ISBN

0743-1546

Type

conf

DOI

10.1109/CDC.2012.6426451

Filename

6426451