Title :
A Sensor Fusion Scheme for the Estimation of Vehicular Speed and Heading Angle
Author :
Jyh-Ching Juang ; Ching-Fu Lin
Author_Institution :
Dept. of Electr. Eng., Nat. Cheng Kung Univ., Tainan, Taiwan
Abstract :
Accurate and reliable speed and heading angle data are essential for vehicular navigation, position reporting, cruise control, and advanced driver-assistance systems (ADAS). However, the heading angle derived based on Global Navigation Satellite System (GNSS) position information is sometimes misleading, particularly at low speed. This paper proposes the use of the sensor fusion approach to address this issue. The statistical properties of the standard speed/heading angle resolution process are analyzed, and an explicit expression of the variance is obtained. Accordingly, an adaptive two-stage filter architecture is proposed to fuse GNSS receiver and gyro measurements. This leads to a method that has the benefits of simple implementation, cost effectiveness, ease of tuning, and performance assurance.
Keywords :
adaptive filters; gyroscopes; radio receivers; satellite navigation; sensor fusion; statistical analysis; ADAS; GNSS receiver; Global Navigation Satellite System; adaptive two-stage filter architecture; advanced driver-assistance systems; gyro measurement; heading angle vehicular navigation; sensor fusion scheme; speed-heading angle resolution process; statistical property; vehicular speed estimation; Estimation; Global Positioning System; Kalman filters; Noise; Noise measurement; Position measurement; Vehicles; Global Navigation Satellite System (GNSS); Kalman filter; heading angle; speed;
Journal_Title :
Vehicular Technology, IEEE Transactions on
DOI :
10.1109/TVT.2014.2352316