Estimation of Elevation Difference Based on Vehicle's Inertial Sensors
| Authors: | Barrho Joerg, Universität Karlsruhe (TH), Germany
Hiemer Marcus, Universität Karlsruhe (TH), Germany
Kiencke Uwe, Universität Karlsruhe (TH), Germany
Matsunaga Takanori, Mitsubishi Electric Corporation, Japan |
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| Topic: | 7.1 Automotive Control |
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| Session: | Vehicle Dynamics Control I |
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| Keywords: | Navigation systems, Inertial navigation, Road traffic, Gradients,Observers, Inertial sensors |
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Abstract
Modern navigation systems require reliable information about the vehicle position notonly on plain. Roads possibly lying on top of each other, can be found in large cities. For this, it is necessary to know the transition from a road level to another one. GPS is not providing sufficiently accurate position information in these areas, because the received signals are disturbed. Therefore, inertial sensors can be employed. This paper presents a linear state space observer, which provides the road gradient. The covered height is obtained by multiplying the covered distance and the road gradient. Simulations and tests of the observer have shown, that reasonable results can be achieved.
