Skip to main content
SpringerLink
Log in

Online Misalignment Estimation of Strapdown Navigation for Land Vehicle under Dynamic Condition

  • Published:
International Journal of Automotive Technology Aims and scope Submit manuscript

Abstract

In recent times, localization and positioning techniques have rapidly developed with the increasing demand for unmanned vehicles. Most positioning systems for land vehicles based on GPS-IMU, use a non-holonomic constraint to determine misalignment between sensor and vehicle body frame; however, misalignment estimation depending on non-holonomic constraint has limitations in high speed environments and there is a lack of observability for roll misalignment. This paper suggests an online misalignment estimation method under dynamic conditions that violates the non-holonomic constraint. It provides roll, pitch and yaw misalignment angles of IMU mounted on a vehicle, and corresponding sideslip angle of the vehicle at the position of IMU. The misalignment estimator is designed as a linear error state Kalman filter, which takes the results of a strapdown inertial navigation working simultaneously. Computer simulations and real environment experiments with consumer grade GPS and MEMS IMU are performed to demonstrate the performance and reliability of the given method.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

Abbreviations

x i :

Vector x in i-frame

p :

Position

v :

Velocity

Ψ:

Attitude in Euler angles (Z-Y-X)

a :

Acceleration with gravity

f :

Specific force

ω :

Angular rate

γ :

Misalignment angle

β :

Sideslip angle

\(C_i^k\) :

Transform matrix from i-frame to k-frame

l g, l o :

GPS/Odometer lever arm

g :

Gravitational vector

Ii,Oi :

Identity/Zero square matrix in i-dimension

φ, θ, ψ :

Roll, pitch and yaw angles

n :

Local navigation frame

b :

IMU body frame

v :

Vehicle body frame

0:

Sensor bias

ik :

Measurement for i-frame with respect to k-frame

×:

Cross product matrix

References

  • Abbott, E. and Powell, D. (1999). Land-vehicle navigation using GPS. Proc. IEEE 87, 1, 145–162.

    Article  Google Scholar 

  • Bae, H. S., Ryu, J. and Gerdes, J. C. (2001). Road grade and vehicle parameter estimation for longitudinal control using GPS. Proc. IEEE Conf. Intelligent Transportation Systems, 25–29.

  • Bao, Z., Lu, G., Wang, Y. and Tian, D. (2013). A calibration method for misalignment angle of vehicle-mounted IMU. Procedia-Social and Behavioral Sciences, 96, 1853–1860.

    Article  Google Scholar 

  • Beiker, S. A., Gaubatz, K. H., Gerdes, J. C. and Rock, K. L. (2006). GPS augmented vehicle dynamics control. J. Passenger Car: Mechanical Systems J. 115, 6, 1174–1182.

    Google Scholar 

  • Bevly, D. M., Sheridan, R. and Gerdes, J. C. (2001). Integrating INS sensors with GPS velocity measurements for continuous estimation of vehicle sideslip and tire cornering stiffness. Proc. 2001 American Control Conf. Arlington, VA, USA.

  • Chen, Q., Zhang, Q. and Niu, X. (2020). Estimate the pitch and heading mounting angles of the IMU for land vehicular GNSS/INS integrated system. IEEE Trans. Intelligent Transportation Systems, 1–13.

  • Daily, R. and Bevly, D. M. (2004). The use of GPS for vehicle stability control systems. IEEE Trans. Industrial Electronics 51, 2, 270–277.

    Article  Google Scholar 

  • Dissanayake, G., Sukkarieh, S., Nebot, E. and Durrant-Whyte, H. (2001). The aiding of a low-cost strapdown inertial measurement unit using vehicle model constraints for land vehicle applications. IEEE Trans. Robotics and Automation 17, 5, 731–747.

    Article  Google Scholar 

  • Gebre-Egziabher, D., Hayward, R. C. and Powell, J. D. (2004). Design of multi-sensor attitude determination systems. IEEE Trans. Aerospace and Electronic Systems 40, 2, 627–649.

    Article  Google Scholar 

  • Hong, S., Lee, M. H., Chun, H. H., Kwon, S. H. and Speyer, J. L. (2005). Observability of error states in GPS/INS integration. IEEE Trans. Vehicular Technology 54, 2, 731–743.

    Article  Google Scholar 

  • Lee, M. H., Park, W. C., Lee, K. S., Hong, S., Park, H. G., Chun, H. H. and Harashima, F. (2012). Observability analysis techniques on inertial navigation systems. J. System Design and Dynamics 6, 1, 28–44.

    Article  Google Scholar 

  • Markley, F. L. (1993). Optimal matrix algorithm. J. Astronautical Sciences 41, 2, 261–280.

    MathSciNet  Google Scholar 

  • Nebot, E. and Durrant-Whyte, H. (1999). Initial calibration and alignment of low-cost inertial navigation units for land vehicle applications. J. Robotic Systems 16, 2, 81–92.

    Article  Google Scholar 

  • Oh, J. and Choi, S. B. (2013). Dynamic sensor zeroing algorithm of 6D IMU mounted on ground vehicles. Int. J. Automotive Technology 14, 2, 221–231.

    Article  Google Scholar 

  • Rodrigo Marco, V., Kalkkuhl, J., Raisch, J. and Seel, T. (2021). A novel IMU extrinsic calibration method for mass production land vehicles. Sensors 21, 1, 7.

    Article  Google Scholar 

  • Ryu, J., Rossetter, E. J. and Gerdes, J. C. (2002). Vehicle sideslip and roll parameter estimation using GPS. In Proc. AVEC Int. Symp. Advanced Vehicle Control, 373–380.

  • Syed, Z. F., Aggarwal, P., Niu, X. and El-Sheimy, N. (2008). Civilian vehicle navigation: Required alignment of the inertial sensors for acceptable navigation accuracies. IEEE Trans. Vehicular Technology 57, 6, 3402–3412.

    Article  Google Scholar 

  • Titterton, D., Weston, J. L. and Weston, J. (2004). Strapdown Inertial Navigation Technology. 2nd edn. IET. Stevenage, UK.

    Book  Google Scholar 

  • Woodman, O. J. (2007). An introduction to inertial navigation. University of Cambridge, Computer Laboratory Technical Report. UCAM-CL-TR-696.

  • Wu, Y., Wu, M., Hu, X. and Hu, D. (2009). Self-calibration for land navigation using inertial sensors and odometer: Observability analysis. In AIAA Guidance, Navigation, and Control Conf. Chicago, IL, USA.

  • Wu, Y., Zhang, H., Wu, M., Hu, X. and Hu, D. (2012). Observability of strapdown INS alignment: A global perspective. IEEE Trans. Aerospace and Electronic Systems 48, 1, 78–102.

    Article  Google Scholar 

  • Xue, H., Guo, X., Zhou, Z., and Wang, K. (2017). In-motion alignment algorithm for vehicle carried SINS based on odometer aiding. J. Navigation 70, 6, 1349.

    Article  Google Scholar 

  • Zheng, Y., Shokouhi, N., Sathyanarayana, A. and Hansen, J. (2017). Free-positioned smartphone sensing for vehicle dynamics estimation. SAE Technical Paper No. 2017-01-0072.

Download references

Acknowledgement

This work was supported by a Korea Evaluation Institute of Industrial Technology (KEIT), grant funded by the Korean government (MOTIE)(20005609, Active Suspension System for Improvement over 5 % Ride and Handling Performance using Road Surface and Road Shape); the BK21+ program through the NRF funded by the Ministry of Education of Korea; and a grant (20TLRP-C152478-02) from the Transportation & Logistics Research Program funded by the Ministry of Land, Infrastructure and Transport (MOLIT) of the Korean government and the Korea Agency for Infrastructure Technology Advancement (KAIA).

Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, KAIST, Daejeon, 34141, Korea

    Yoonjin Hwang & Seibum Choi

  2. The Robotics Program, KAIST, Daejeon, 34141, Korea

    Yongseop Jeong

  3. School of Electrical Engineering, KAIST, Daejeon, 34141, Korea

    In So Kweon

Authors
  1. Yoonjin Hwang
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Yongseop Jeong
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. In So Kweon
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Seibum Choi
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Seibum Choi.

Additional information

Publisher’s Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Hwang, Y., Jeong, Y., Kweon, I.S. et al. Online Misalignment Estimation of Strapdown Navigation for Land Vehicle under Dynamic Condition. Int.J Automot. Technol. 22, 1723–1733 (2021). https://doi.org/10.1007/s12239-021-0148-6

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s12239-021-0148-6

Key Words

Search

Navigation