Self-calibration algorithm for an IMU in two-wheeled vehicles: design and experimental validation

Abstract

In this paper an algorithm for the estimation of the three mounting angles (roll, pitch, and yaw) of accelerometers and gyroscopes within Inertial Measurement Units (IMUs) is presented. Such a self-calibration method is focused for telematic boxes (e-Boxes) installed on two-wheeled vehicles, whose IMUs' axes often result not to be aligned with the vehicle reference system. Previous methods for axes calibration commonly use satellite-based radionavigation data to determine the unknown mounting angles. In this paper we propose an energy-efficient alignment procedure which limits the use of geolocation data. The aspects of data selection and real-time implementation of our method are taken particularly into account. The proposed approach is validated and performance are analyzed on experimental data collected with tests performed with a motorcycle equipped with three e-Boxes mounted in different positions and orientations. The analysis of the real measured driving data proves the effectiveness of the approach in aligning the sensors' axes in all three directions.

Vehicle Vertical Wearing Index (V2 WI): active monitoring of wearing and aging of vertical-dynamics components in four-wheeled vehicles

“…Also, it would be difficult to compare different vehicles because of their nonstandard sensor quality. For this reason, in the experimental campaign we equipped all tested vehicles with the same external device, which was a modern, cost-effective, and easy to install telematic e-Box [17]. This apparatus was already employed in different applications [18], [19], [20], proving to be a flexible and reliable device for similar applications.…”

Analysis and development of an automatic eCall for motorcycles: a one-class cepstrum approach

“…1 -which embeds a triaxial accelerations vector and two angular velocities, the roll-rate (ω x ) and yaw-rate (ω z ). This is the minimal sensor configuration already employed in recent motorcycles for estimating the lean angle [14] and which could be easily replicated using the modern, flexible, cost-effective, and easy to install telematic e-Boxes [15]. In Fig.…”

“…1 -which embeds a triaxial accelerations vector and two angular velocities, the roll-rate (ω x ) and yaw-rate (ω z ). This is the minimal sensor configuration already employed in recent motorcycles for estimating the lean angle [14] and which could be easily replicated using the modern, flexible, cost-effective, and easy to install telematic e-Boxes [15]. In the following, the available vehicle speed is presented only for monitoring purposes and for testing one of the algorithms already presented in literature, but it is not used for the proposed approach.…”