A Kalman Filter for Odometry using a Wheel Mounted Inertial Sensor

Bernd Gersdorf, Udo Freese

Abstract

This paper describes an Extended Kalman Filter for a wheel mounted inertial measurement unit using two accelerometers and a single gyroscope as a substitute for classical odometry sensing. The sensor can be mounted with minimal effort on existing wheeled vehicles. It is highly robust against vibration while rolling on uneven terrain and can cope with higher speeds even when the measurement range is partially exceeded. It has been developed as a component of a GPS based urban navigation assistant for elderly people using walkers, wheelchairs, or tricycles as an add-on device.

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Paper Citation


in Harvard Style

Gersdorf B. and Freese U. (2013). A Kalman Filter for Odometry using a Wheel Mounted Inertial Sensor . In Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-8565-70-9, pages 388-395. DOI: 10.5220/0004457303880395


in Bibtex Style

@conference{icinco13,
author={Bernd Gersdorf and Udo Freese},
title={A Kalman Filter for Odometry using a Wheel Mounted Inertial Sensor},
booktitle={Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2013},
pages={388-395},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004457303880395},
isbn={978-989-8565-70-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - A Kalman Filter for Odometry using a Wheel Mounted Inertial Sensor
SN - 978-989-8565-70-9
AU - Gersdorf B.
AU - Freese U.
PY - 2013
SP - 388
EP - 395
DO - 10.5220/0004457303880395