Vehicular Pitch Estimation Algorithm with ACF/IMMKF Based on GPS/IMU/OBD Data Fusion 


Vol. 40,  No. 9, pp. 1837-1845, Sep.  2015


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  Abstract

The longitudinal velocity is necessary for accurate vehicular positioning in urban environment. The pitch angle, which is a road slope, should be calculated to acquire the longitudinal velocity. However, it is impossible to consider very accurate pitch, when using a sensor and an algorithm. That’s why process noise and positioning stimation error of IMU should be adjusted to the driving environment and fuse GPS, OBD data with ACF which consist of AKF, CF in this paper. Then, final pitch angle which is appropriate for driving environment is estimated by IMMKF in order to optimize the system model according to road slope models.

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  Cite this article

[IEEE Style]

J. Kim, M. Lee, S. Lee, "Vehicular Pitch Estimation Algorithm with ACF/IMMKF Based on GPS/IMU/OBD Data Fusion," The Journal of Korean Institute of Communications and Information Sciences, vol. 40, no. 9, pp. 1837-1845, 2015. DOI: .

[ACM Style]

Ju-won Kim, Myung-su Lee, and Sang-sun Lee. 2015. Vehicular Pitch Estimation Algorithm with ACF/IMMKF Based on GPS/IMU/OBD Data Fusion. The Journal of Korean Institute of Communications and Information Sciences, 40, 9, (2015), 1837-1845. DOI: .

[KICS Style]

Ju-won Kim, Myung-su Lee, Sang-sun Lee, "Vehicular Pitch Estimation Algorithm with ACF/IMMKF Based on GPS/IMU/OBD Data Fusion," The Journal of Korean Institute of Communications and Information Sciences, vol. 40, no. 9, pp. 1837-1845, 9. 2015.

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pISSN : 1226 - 4717
eISSN : 2287 - 3880