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Extended Kalman filter for vehicle tracking using road surface vibration measurements
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0002-5888-8626
2013 (English)In: IEEE 51st Annual Conference on Decision and Control: CDC 2012, Piscataway, NJ: IEEE Communications Society, 2013Conference paper, Published paper (Refereed)
Abstract [en]

This paper addresses a novel method for vehicle tracking using an extended Kalman filter and measurements of road surface vibrations from a single accelerometer. First, a measurement model for vibrations caused by vehicular road traffic is developed. Then the identifiability of the involved parameters is analyzed. Finally, the measurement model is combined with a constant speed motion model and the Kalman filter is derived. Simulation and measurement results indicate that the approach is feasible and show where further development is needed.

Place, publisher, year, edition, pages
Piscataway, NJ: IEEE Communications Society, 2013.
Series
I E E E Conference on Decision and Control. Proceedings, ISSN 0743-1546
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
URN: urn:nbn:se:ltu:diva-40744DOI: 10.1109/CDC.2012.6426451Local ID: ffb2ad90-61d9-4518-ba7f-e6f3f855092eISBN: 978-1-4673-2065-8 (print)ISBN: 978-1-4673-2064-1 (electronic)OAI: oai:DiVA.org:ltu-40744DiVA: diva2:1014265
Conference
IEEE Conference on Decision and Control : 10/12/2012 - 13/12/2012
Note
Validerad; 2013; 20130311 (ysko)Available from: 2016-10-03 Created: 2016-10-03 Last updated: 2017-11-25Bibliographically approved

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fulltext(531 kB)65 downloads
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Hostettler, RolandBirk, WolfgangNordenvaad, Magnus Lundberg
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