Ground vehicle odometry using a non-intrusive inertial speed sensor
- Resource Type
- Conference
- Authors
- Shah, Het; Haldar, Siddhant; Ner, Rohit; Jha, Siddharth; Chakravarty, Debashish
- Source
- 2019 IEEE International Conference on Industrial Technology (ICIT) Industrial Technology (ICIT), 2019 IEEE International Conference on. :120-125 Feb, 2019
- Subject
- Communication, Networking and Broadcast Technologies
Computing and Processing
Photonics and Electrooptics
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Transportation
Robot sensing systems
Wheels
Kalman filters
Global Positioning System
Gyroscopes
Mathematical model
Automobiles
sensors
non-intrusive
wheel-mounted
robot localization
bias estimation
kalman filter
recursive least squares
factor graph
- Language
- ISSN
- 2643-2978
This paper describes the design and development of a non-intrusive inertial speed sensor that can be reliably used to replace a conventional optical or hall effect-based speedometer on any kind of ground vehicle. The design allows for simple assembly-disassembly from tyre rims. The sensor design and data flow are explained. Algorithms and filters for pre-processing and processing the data are detailed. Comparison with a real optical encoder proves the accuracy of the proposed sensor. Finally, it is shown that factor graph-based localization is possible with the developed sensor.