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).
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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.
