Extended Kalman Filter Based Magnetic Guidance for Intelligent Vehicles

Author

Xu, H.G. ; Wang, C.X. ; Yang, R.Q. ; Yang, M.

Author_Institution

Res. Inst. of Robotics, Shanghai Jiao Tong Univ.

fYear

0

fDate

0-0 0

Firstpage

169

Lastpage

175

Abstract

Guidance is one of the key problems in the research of intelligent vehicles. This paper, proposed a magnetic guidance method for intelligent vehicle based on EKF (extended Kalman filter), which fuses magnetic sensors with encoders. Anisotropic Magnetoresistive (AMR) sensors are used instead of Hall-effect sensors in the proposed magnetic sensing system due to their high sensitivity and low cost. An EKF is applied to eliminate the cumulative error with the dead-reckoning method. Two types of field experiments have been performed on the roads, and results demonstrate the effectiveness and reliability of the proposed method

Keywords

Hall effect devices; Kalman filters; magnetic devices; nonlinear filters; traffic engineering computing; anisotropic magnetoresistive sensors; dead-reckoning method; extended Kalman filter based magnetic guidance; intelligent vehicles; Anisotropic magnetoresistance; Fuses; Intelligent sensors; Intelligent vehicles; Magnetic anisotropy; Magnetic sensors; Magnetic separation; Navigation; Perpendicular magnetic anisotropy; Sensor systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Vehicles Symposium, 2006 IEEE

Conference_Location

Tokyo

Print_ISBN

4-901122-86-X

Type

conf

DOI

10.1109/IVS.2006.1689623

Filename

1689623