A new measurement for yaw estimation of land vehicles using MARG sensors. Issue 5 (16th September 2019)

• Record Type: Journal Article
• Authors: Shi, Gang; Li, Xisheng; Wang, Zhe; Liu, Yanxia
• Is Part Of: Sensor review. Volume 39:Issue 5(2019)
• Page Start: 636
• Page End: 644
• Publication Date: 2019-09-16
• Subjects: Sensor fusion -- Kalman filter -- Attitude estimation -- Magnetic angular rate and gravity (MARG) sensor; Sensor systems -- Periodicals; Detectors -- Industrial applications -- Periodicals; Engineering instruments -- Periodicals; 681.2
• DOI: 10.1108/SR-10-2018-0276
• Languages: English
• ISSNs: 0260-2288

Abstract

Abstract : Purpose: The magnetometer measurement update plays a key role in correcting yaw estimation in fusion algorithms, and hence, the yaw estimation is vulnerable to magnetic disturbances. The purpose of this study is to improve the ability of the fusion algorithm to deal with magnetic disturbances. Design/methodology/approach: In this paper, an adaptive measurement equation based on vehicle status is derived, which can constrain the yaw estimation from drifting when vehicle is running straight. Using this new measurement, a Kalman filter-based fusion algorithm is constructed, and its performance is evaluated experimentally. Findings: The experiments results demonstrate that the new measurement update works as an effective supplement to the magnetometer measurement update in the present of magnetic disturbances, and the proposed fusion algorithm has better yaw estimation accuracy than the conventional algorithm. Originality/value: The paper proposes a new adaptive measurement equation for yaw estimation based on vehicle status. And, using this measurement, the fusion algorithm can not only reduce the weight of disturbed sensor measurement but also utilize the character of vehicle running to deal with magnetic disturbances. This strategy can also be used in other orientation estimation fields.