The aiding of a low-cost strapdown inertial measurement unit using vehicle model constraints for land vehicle applications.
This paper presents a new method for improving the accuracy of inertial measurement units (IMUs) mounted on land vehicles. The algorithm exploits nonholonomic constraints that govern the motion of a vehicle on a surface to obtain velocity observation measurements which aid in the estimation of the a...
| Published in: | IEEE Transactions on robotics and automation 17, 5 (2001). |
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| Main Author: | |
| Format: | Article |
| Language: | English |
| Subjects: |