Odometer Velocity and Acceleration Estimation Based on Tracking Differentiator Filter for 3D-Reduced Inertial Sensor System
Velocity information from the odometer is the key information in a reduced inertial sensor system (RISS), and is prone to noise corruption. In order to improve the navigation accuracy and reliability of a 3D RISS, a method based on a tracking differentiator (TD) filter was proposed to track odometer...
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MDPI AG
2019-10-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/19/20/4501 |
| _version_ | 1798024570087669760 |
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| author | Qing Zhang Lianwu Guan Dexin Xu |
| author_facet | Qing Zhang Lianwu Guan Dexin Xu |
| author_sort | Qing Zhang |
| collection | DOAJ |
| description | Velocity information from the odometer is the key information in a reduced inertial sensor system (RISS), and is prone to noise corruption. In order to improve the navigation accuracy and reliability of a 3D RISS, a method based on a tracking differentiator (TD) filter was proposed to track odometer velocity and acceleration. With the TD filter, an input signal and its differential signal are estimated fast and accurately to avoid the noise amplification that is brought by the conventional differential method. The TD filter does not depend on an object model, and has less computational complexity. Moreover, the filter phase lag is decreased by the prediction process with the differential signal of the TD filter. In this study, the numerical simulation experiments indicate that the TD filter can achieve a better performance on random noises and outliers than traditional numerical differentiation. The effectiveness of the TD filter on a 3D RISS is demonstrated using a group of offline data that were obtained from an actual vehicle experiment. We conclude that the TD filter can not only quickly and correctly filter velocity and estimate acceleration from the odometer velocity for a 3D RISS, but can also improve the reliability of the 3D RISS. |
| first_indexed | 2024-04-11T18:05:52Z |
| format | Article |
| id | doaj.art-ec0522990e6742df8f895b89f4b24207 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-11T18:05:52Z |
| publishDate | 2019-10-01 |
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| series | Sensors |
| spelling | doaj.art-ec0522990e6742df8f895b89f4b242072022-12-22T04:10:21ZengMDPI AGSensors1424-82202019-10-011920450110.3390/s19204501s19204501Odometer Velocity and Acceleration Estimation Based on Tracking Differentiator Filter for 3D-Reduced Inertial Sensor SystemQing Zhang0Lianwu Guan1Dexin Xu2College of Automation, Harbin Engineering University, Harbin 150001, ChinaCollege of Automation, Harbin Engineering University, Harbin 150001, ChinaCollege of Automation, Harbin Engineering University, Harbin 150001, ChinaVelocity information from the odometer is the key information in a reduced inertial sensor system (RISS), and is prone to noise corruption. In order to improve the navigation accuracy and reliability of a 3D RISS, a method based on a tracking differentiator (TD) filter was proposed to track odometer velocity and acceleration. With the TD filter, an input signal and its differential signal are estimated fast and accurately to avoid the noise amplification that is brought by the conventional differential method. The TD filter does not depend on an object model, and has less computational complexity. Moreover, the filter phase lag is decreased by the prediction process with the differential signal of the TD filter. In this study, the numerical simulation experiments indicate that the TD filter can achieve a better performance on random noises and outliers than traditional numerical differentiation. The effectiveness of the TD filter on a 3D RISS is demonstrated using a group of offline data that were obtained from an actual vehicle experiment. We conclude that the TD filter can not only quickly and correctly filter velocity and estimate acceleration from the odometer velocity for a 3D RISS, but can also improve the reliability of the 3D RISS.https://www.mdpi.com/1424-8220/19/20/4501land vehicles navigationreduced inertial sensor systemvelocity estimationtracking differentiator filterphase lag compensation |
| spellingShingle | Qing Zhang Lianwu Guan Dexin Xu Odometer Velocity and Acceleration Estimation Based on Tracking Differentiator Filter for 3D-Reduced Inertial Sensor System Sensors land vehicles navigation reduced inertial sensor system velocity estimation tracking differentiator filter phase lag compensation |
| title | Odometer Velocity and Acceleration Estimation Based on Tracking Differentiator Filter for 3D-Reduced Inertial Sensor System |
| title_full | Odometer Velocity and Acceleration Estimation Based on Tracking Differentiator Filter for 3D-Reduced Inertial Sensor System |
| title_fullStr | Odometer Velocity and Acceleration Estimation Based on Tracking Differentiator Filter for 3D-Reduced Inertial Sensor System |
| title_full_unstemmed | Odometer Velocity and Acceleration Estimation Based on Tracking Differentiator Filter for 3D-Reduced Inertial Sensor System |
| title_short | Odometer Velocity and Acceleration Estimation Based on Tracking Differentiator Filter for 3D-Reduced Inertial Sensor System |
| title_sort | odometer velocity and acceleration estimation based on tracking differentiator filter for 3d reduced inertial sensor system |
| topic | land vehicles navigation reduced inertial sensor system velocity estimation tracking differentiator filter phase lag compensation |
| url | https://www.mdpi.com/1424-8220/19/20/4501 |
| work_keys_str_mv | AT qingzhang odometervelocityandaccelerationestimationbasedontrackingdifferentiatorfilterfor3dreducedinertialsensorsystem AT lianwuguan odometervelocityandaccelerationestimationbasedontrackingdifferentiatorfilterfor3dreducedinertialsensorsystem AT dexinxu odometervelocityandaccelerationestimationbasedontrackingdifferentiatorfilterfor3dreducedinertialsensorsystem |