Accelerometer Compensated Differential Wheel Pulse Based Dead Reckoning

J.L. Wilson, M. J. Slade

Abstract:	Many Automotive OEM Dead Reckoning solutions rely on Differential Wheel Pulse based sensor solutions for inertial sensor measurements and as such are susceptible to the common errors inherent in this approach; errors such as heading drift due to road surface camber changes, and noise due to surface irregularities. Gyroscopes will typically offer better performance than Differential Wheel Pulse based solutions but are not the preferred solution in automotive OEM applications due to the high cost of navigation quality gyroscopes. Since the majority of long-term drift in Differential Wheel Pulse solutions is associated with the change in Road Surface Camber (most notable during long periods of GPS outage such as caused by tunnels), if you can measure the Road Surface Camber, you can then compensate for it’s effect. Within this paper we will examine an approach that couples a low-cost 3-axis MEMS Accelerometer with a Differential Wheel Pulse Sensor Solution to help correct for the Camber-change induced drift associated with Differential Wheel Pulse systems.
Published in:	Proceedings of the 22nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2009) September 22 - 25, 2009 Savannah International Convention Center Savannah, GA
Pages:	3087 - 3095
Cite this article:	Wilson, J.L., Slade, M. J., "Accelerometer Compensated Differential Wheel Pulse Based Dead Reckoning," Proceedings of the 22nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2009), Savannah, GA, September 2009, pp. 3087-3095.
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