Earticle

초록

영어

This research propose a vehicle attitude estimation method using sensor fusion of speedometer and six-axis inertial sensor. External acceleration generated in a dynamic environment such as high-speed movement of a vehicle causes a considerable error in the attitude angle measured by the accelerometer. The external acceleration is estimated using velocity data obtained from speedometers mounted on most vehicles. The vehicle velocity is decomposed into three vector components using the angular velocity and attitude angle measured by the inertial sensor in the previous time step. The attitude angle estimated by the speedometer and the accelerometer is used to correct the error of the gyro sensor in the Kalman filter. In order to verify the performance of the proposed algorithm, experiments on a scenario of rapid acceleration/deceleration of a truck in a straight section and a scenario of high-speed driving on a long-distance highway are conducted.

목차

ABSTRACT
1. 서론
2. 연구 방법
2.1 가속도계를 이용한 외부 가속도 계산
2.2 3축 방향 외부 속도와 가속도 계산
2.3 Kalman Filter를 이용한 센서융합 알고리즘
3. 실험 결과
3.1 실험조건
3.2 직선구간에서의 화물차 급가속/감속 실험
3.3 도로 주행 실험
4. 결론
References

키워드

저자

• 유성식 [ Sung-Sic Yoo | Professor, Joongbu University ]
• 이흥식 [ Heung-Shik Lee | Professor, Joongbu University ] Corresponding Author

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  한국기계항공기술학회지(구 한국기계기술학회지) [Journal of the Korean Society of Mechanical and Aviation Technology ]

• 간기

  격월간

• pISSN

  1229-604X

• eISSN

  2508-3805

• 수록기간

  1999~2026

• 등재여부

  KCI 등재

• 십진분류

  KDC 550 DDC 620