|Table of Contents|

Measurement method of vehicle yaw rate with smartphone(PDF)

《交通运输工程学报》[ISSN:1671-1637/CN:61-1369/U]

Issue:
2013年06期
Page:
61-68
Research Field:
载运工具运用工程
Publishing date:

Info

Title:
Measurement method of vehicle yaw rate with smartphone
Author(s):
CHEN Zhi-jun1; 2 ;  WU Chao-zhong1; 2 ;  HUANG Zhen2; 3;  MA Jie1; 2;  GAO Yan4
1. Research Center of Intelligent Transportation System, Wuhan University of Technology, Wuhan 430063, Hubei, China; 2. Engineering Research Center of Ministry of Education for Waterway and Highway Transportation Safety Control and Equipment, Wuhan University of Technology, Wuhan 430063, Hubei, China;
Keywords:
automotive engineering;  vehicle yaw rate;  smartphone;  data fusion;  self-adaptive weighted algorithm
PACS:
U461.6
DOI:
-
Abstract:
Vehicle yaw rates were measured by smartphone and high-precision inertial navigation system(INS). The influence of smartphone places on the measurement accuracy of yaw rate was analyzed. A self-adaptive weighted fusion algorithm was applied to reduce the measurement error of built-in gyroscope and orientation sensor of smartphone. The extreme value theory of multivariable function was used to obtain the optimal weighting factors of two sensors. The best value of yaw rate was calculated by weighted summation. Analysis result indicates that the impact of smartphone position on the measurement accuracy is very small. When smartphone is not fixed at center of gravity, the maximal relative errors of yaw rates measured by two sensors of smartphone are 0.739 7% and 0.923 8%, respectively. Average absolute error between fused data and INS data is 0.607 7(°)·s-1. Compared with the data measured by two sensors of smartphone, the average absolute error reduces by 34.3% and 50.0%, respectively. The variance of fused data declines and rapidly converges as the number of measurement increases. The convergent time is about 6 s. 3 tabs, 16 figs, 20 refs.

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Last Update: 2013-12-20