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Publication type: Article in Proceedings
Author: Dr.-Ing Bernd Gersdorf, Prof. Dr.-Ing Udo Freese
Editor: Jean-Louis Ferrier, Oleg Gusikhin, Kurosh Madani, Jurek Sasiadek
Title: A Kalman Filter for Odometry Using a Wheel Mounted Inertial Sensor
Book / Collection title: ICINCO 2013, 10th International Conference on Informatics in Control, Automation and Robotics
Volume: 1
Page(s): 388 – 395
Year published: 2013
Publisher: SCITEPRESS – Science and Technology Publications
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.
ISBN: 978-989-8565-70-9
PDF Version: http://www.informatik.uni-bremen.de/~bernd/papers/ICINCO_2013_110_CR.pdf
Keywords: Extended Kalman Filter EKF Odometry Wheel Sensor Inertial Measurement Unit IMU MEMS Gyroscope Accelerometer Walker Wheelchair Tricycle Navigation ASSAM
Status: Reviewed
Last updated: 16. 08. 2013

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