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General Information
    • ISSN: 1793-8244
    • Frequency: Semiyearly
    • DOI: 10.18178/JACN
    • Editor-in-Chief: Dr. Ka Wai Gary Wong
    • Executive Editor: Ms. Nina Lee
    • Abstracting/ Indexing: EI (INSPEC, IET),  Electronic Journals Library, Ulrich's Periodicals Directory, International Computer Science Digital Library (ICSDL), ProQuest, and Google Scholar.
    • E-mail: jacn@ejournal.net
Dr. Ka Wai Gary Wong
Division of Information and Technology Studies, Faculty of Education, The University of Hong Kong.
It's a honor to serve as the editor-in-chief of JACN. I'll work together with the editors and reviewers to help the journal progress
JACN 2013 Vol.1(2): 82-87 ISSN: 1793-8244
DOI: 10.7763/JACN.2013.V1.18

Real-Time Offset Error Compensation of 6D IMU Mounted on Ground Vehicles Using Disturbance Observer

Jiwon Oh, Yoonkab Noh, and Seibum B. Choi
Abstract—This paper mainly deals with the offset error compensation algorithm related with the 6D IMU (inertial measurement unit) that measures the linear accelerations and angular velocities about the longitudinal, lateral, and vertical axis of ground vehicles. It is assumed that the independent wheel speed data and steering wheel angle information are provided for the sensor compensation algorithm. Using a disturbance observer, through designing a linear model and inverse model of the vehicle motion, the offset errors of the accelerometers are estimated. The stability of the entire compensational system is verified, and finally, the performance of the suggested algorithm is tested based on a well-known vehicle dynamics simulation tool, CarSim.

Index Terms—Bicycle model, disturbance observer, inertial measurement unit, offset compensation, signal processing.

The authors are with Korea Advanced Institute of Science and Technology, Kuseong, Yuseong, Daejeon, Korea (tel.: +82-42-350-4160; fax: +82-42-350-4110; e-mail: jwo@kaist.ac.kr).


Cite:Jiwon Oh, Yoonkab Noh, and Seibum B. Choi, "Real-Time Offset Error Compensation of 6D IMU Mounted on Ground Vehicles Using Disturbance Observer," Journal of Advances in Computer Networks vol. 1, no. 2, pp. 82-87, 2013.

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