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IMU alignment for smartphone-based automotive navigation
KTH, School of Electrical Engineering (EES), Signal Processing. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
KTH, School of Electrical Engineering (EES), Signal Processing. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0002-3054-6413
KTH, School of Electrical Engineering (EES), Signal Processing. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0002-2718-0262
2015 (English)In: 2015 18th International Conference on Information Fusion, IEEE , 2015, 1437-1443 p.Conference paper (Refereed)Text
Abstract [en]

Recent years have seen an increasing interest in making use of the smartphone as a cheap and viable navigation device for land-vehicles. However, smartphone-based automotive navigation suffers from the fact that the orientation of the smartphone’s inertial measurement unit, with respect to the vehicle, in general is unknown. In this study, we present a method for simultaneous vehicle navigation and smartphone-to-vehicle alignment. In addition to the state estimates obtained from applying a standard global navigation satellite system-aided inertial navigation system to estimate the smartphone dynamics, this will also provide us with estimates of the vehicle’s attitude. These estimates are used to improve the navigation solution, and also enables the estimation of additional vehicle, road, and driver characteristics, which requires knowledge of the vehicle’s attitude. The performance of the proposed method is evaluated with both simulations and experimental data.

Place, publisher, year, edition, pages
IEEE , 2015. 1437-1443 p.
Keyword [en]
GNSS-aided INSs, IMU alignment, Inertial navigation systems, Smartphone sensors
National Category
Signal Processing
Identifiers
URN: urn:nbn:se:kth:diva-187111ScopusID: 2-s2.0-84960511031OAI: oai:DiVA.org:kth-187111DiVA: diva2:929678
Conference
18th International Conference on Information Fusion, Fusion 2015; Washington; United States
Note

QC 20160519

Available from: 2016-05-19 Created: 2016-05-17 Last updated: 2016-05-19Bibliographically approved

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Wahlström, JohanSkog, IsaacHändel, Peter
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Signal ProcessingACCESS Linnaeus Centre
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