Poster Abstract: Automatic Calibration of Device Attitude in Inertial Measurement Unit Based Traffic Probe Vehicles

Mustafa Mousa, Kapil Sharma, Christian Claudel

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

Probe vehicles consist in mobile traffic sensor networks that evolve with the flow of vehicles, transmitting velocity and position measurements along their path, generated using GPSs. To address the urban positioning issues of GPSs, we propose to replace them with inertial measurement units onboard vehicles, to estimate vehicle location and attitude using inertial data only. While promising, this technology requires one to carefully calibrate the orientation of the device inside the vehicle to be able to process the acceleration and rate gyro data. In this article, we propose a scheme that can perform this calibration automatically by leveraging the kinematic constraints of ground vehicles, and that can be implemented on low-end computational platforms. Preliminary testing shows that the proposed scheme enables one to accurately estimate the actual accelerations and rotation rates in the vehicle coordinates. © 2016 IEEE.
Original languageEnglish (US)
Title of host publication2016 15th ACM/IEEE International Conference on Information Processing in Sensor Networks (IPSN)
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
ISBN (Print)9781509008025
DOIs
StatePublished - Apr 28 2016

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