Improved road grade estimation using sensor fusion
2006 (English)Conference paper (Refereed)
A method for estimation of the road grade basedon standard mounted sensors in a heavy duty vehicle ispresented. The method combines information from a barometerand a GPS with velocity and torque measurements of conventionaltype. The sensor information is adaptively integratedusing extended Kalman filtering. This provides a systematicmethod for dealing with varying uncertainty in the sensors.The method can handle periods of missing or unreliable datafrom one or several sensors, e.g., occasions when the satellitecoverage is low or when the brakes are applied.
Place, publisher, year, edition, pages
IdentifiersURN: urn:nbn:se:kth:diva-84522OAI: oai:DiVA.org:kth-84522DiVA: diva2:499348
Reglermöte, Stockholm, Sweden, 30-31 maj 2006
QC 201205312012-02-132012-02-132012-05-31Bibliographically approved