Analysis of sensor platform dynamics in ground vehicle

Author

Mattila, Simo ; Kostamo, Jari ; Porkka, Esa ; Kuosmanen, Petri ; Heikkilä, Heikki

Author_Institution

Helsinki Univ. of Technol.

Volume

21

Issue

8

fYear

2006

Firstpage

9

Lastpage

14

Abstract

A vehicular platform´s dynamical behavior is analyzed as a basis for designing a laboratory test apparatus and an associated 2-dimensional orthogonal stabilizer. The test track caused inclination in the front direction to vary from -6.5deg to 7.2deg and from -5.5deg to 5.0deg in the side direction. The maximum angular rate was 19.8 plusmn 0.1deg/s in the front direction within a bandwidth of 0-2.5 Hz and 14.4 plusmn 0.05deg/s in the side direction. The platform´s natural frequency in the front direction was found to be 0.8-1.0 Hz. In the side direction the most significant rate values appeared within 0-4 Hz but the natural frequency did not wake. Inclination measurements were based on sensor fusion where the basic model of stochastic Kalman filtering was applied

Keywords

Kalman filters; angular velocity measurement; sensor fusion; test equipment; 0 to 2.5 Hz; 0 to 4 Hz; 2D orthogonal stabilizer; ground vehicle; inclination measurements; sensor fusion; sensor platform dynamics; stochastic Kalman filtering; Bandwidth; Filtering; Frequency; Kalman filters; Laboratories; Land vehicles; Sensor fusion; Stochastic processes; Testing; Vehicle dynamics;

fLanguage

English

Journal_Title

Aerospace and Electronic Systems Magazine, IEEE

Publisher

ieee

ISSN

0885-8985

Type

jour

DOI

10.1109/MAES.2006.1703230

Filename

1703230