Extended Kalman filter for vehicle tracking using road surface vibration measurements
2013 (English)In: IEEE 51st Annual Conference on Decision and Control: CDC 2012, Piscataway, NJ: IEEE Communications Society, 2013Conference paper (Refereed)
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.
, I E E E Conference on Decision and Control. Proceedings, ISSN 0743-1546
Research subject Control Engineering
IdentifiersURN: urn:nbn:se:ltu:diva-40744DOI: 10.1109/CDC.2012.6426451Local ID: ffb2ad90-61d9-4518-ba7f-e6f3f855092eISBN: 978-1-4673-2065-8ISBN: 978-1-4673-2064-1 (PDF)OAI: oai:DiVA.org:ltu-40744DiVA: diva2:1014265
IEEE Conference on Decision and Control : 10/12/2012 - 13/12/2012
Validerad; 2013; 20130311 (ysko)2016-10-032016-10-03Bibliographically approved