Height Fluctuation Kinematic Positioning Reliability

Takanose, Aoki; Atsumi, Yoshiki; Takikawa, Kanamu; Meguro, Junichi

doi:10.33012/2020.17534

Cited by 1 publication

(2 citation statements)

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“…6 where ψ V is the product of the yaw rate and velocity and refers to the centrifugal acceleration, so it can be summarized as G y in Eq. (11). Therefore, Eq.…”

Section: Overview Of the Slip Angle Estimationmentioning

confidence: 93%

“…accurate estimation method has been proposed for ψ , δψ , SF , and θ [1,11]; therefore, the estimation of the roll angle ϕ and slip angle β remains unfulfilled. Thus, in this paper, we focus on the accuracy of the vehicle trajectory in the road orthogonal direction, estimate the slip angle, and correct the estimated slip angle to the vehicle trajectory.…”

Section: Overview Of Conventional Trajectory Estimationmentioning

confidence: 99%

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Vehicular trajectory estimation utilizing slip angle based on GNSS Doppler/IMU

et al. 2021

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Accurate vehicular trajectory estimation is important for the recently developed autonomous driving systems. As the accuracy of the vehicular trajectory estimation is reduced with the slippage that occurs during turning, we propose a method in this study to accurately estimate the trajectory of a vehicle, focusing on the slip angle estimation. Although the two-wheel model is used as a general concept slip angle estimation, the accurate estimation of the parameters was difficult using the conventional methods. Therefore, a global navigation satellite system (GNSS) Doppler was used for parameter estimation. In addition, the roll angle was estimated as it occurs during turning and affects the slip angle of the vehicle. Specifically, we verified the improvement in accuracy of the vehicular trajectory estimation using the cost-effective GNSS Doppler/IMU.

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“…6 where ψ V is the product of the yaw rate and velocity and refers to the centrifugal acceleration, so it can be summarized as G y in Eq. (11). Therefore, Eq.…”

Section: Overview Of the Slip Angle Estimationmentioning

confidence: 93%

Section: Overview Of Conventional Trajectory Estimationmentioning

confidence: 99%