IMU Data Noise Cleansing for Vehicular Applications

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蔡玉楓(Yu-Feng Tsai) 查詢紙本館藏

畢業系所

資訊工程學系

論文名稱

(IMU Data Noise Cleansing for Vehicular Applications)

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摘要(中)

隨著科技的進步，智能化設備被廣泛使用，例如：OBU(智能設
備)備裝在車輛上，用來提高交通安全性，同時提供額外的信息助於
行車，為了降低生產成本，這些感測器有所缺陷，通常需要經過校
准才能夠備使用。在這篇論文中，我們提出一套系統，適用於整合
成後照鏡的 OBU，所提出的系統，不需要人為進行校正，也不需要
額外設備，此外，所提出的系統，結合 IMU 和 GPS 的資訊，提供更
可靠的位置訊息。在實驗中，我們比較所提出的方法與傳統校準進
行比較，結果顯示，提出的校正方法優於傳統方法，且限制更少

摘要(英)

Along with the progress of hardware and software technologies, the smart
devices have become ubiquitous. As an example, the smart device (i.e., OBU)
is installed in the vehicle, which allows the intelligent transportation system to
improve the transportation safety. While the GPS and IMU sensors built in OBU
are able to provide the external information of the vehicle, the sensor readings
generally require periodical calibration because these sensors are built with inexpensive
and unreliable parts to reduce the cost. In this thesis, we propose a
calibration system well suited for OBU built inside the rear mirror of the vehicle.
The proposed system calibrates the sensor readings without human intervention
and the need of external equipments. In addition, the proposed system fuses the
IMU and GPS readings to provide more accurate vehicle position information.
The experiments to compare the proposed calibration system and traditional calibration
is conducted, and the results show that the proposed calibration system
significantly outperforms the traditional counterpart.

關鍵字(中)

★ 慣性測量單元

關鍵字(英)

★ IMU
★ calibration

論文目次

Contents
1 Introduction 1
2 RelatedWork 3
2.1 Multi-position calibration . . . . . . . . . . . . . . . . . . . . . . . . . 3
2.2 Particle Swarm Optimization . . . . . . . . . . . . . . . . . . . . . . . 4
3 Preliminary 6
3.1 Inertial Measurement Unit, IMU . . . . . . . . . . . . . . . . . . . . . . 6
3.2 Coordinate systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3.3 Principal Components Analysis . . . . . . . . . . . . . . . . . . . . . . 9
3.4 Quaternion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.5 Non-linear Complementary Filter . . . . . . . . . . . . . . . . . . . . . 16
4 Design 18
4.1 The Basic Idea . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
4.2 The Calibration based on PCA . . . . . . . . . . . . . . . . . . . . . . 20
4.3 Non-linear Complementary Filter . . . . . . . . . . . . . . . . . . . . . 22
4.3.1 Estimate the error . . . . . . . . . . . . . . . . . . . . . . . . . 23
4.3.2 Estimate the Attitude . . . . . . . . . . . . . . . . . . . . . . . 24
4.4 Estimate position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
5 Performance 28
5.1 The trajectory of vehicle . . . . . . . . . . . . . . . . . . . . . . . . . . 28
5.2 The result of the Calibration based on PCA . . . . . . . . . . . . . . . 29
6 Conclusions 36
Reference 37

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指導教授

孫敏德(Min-Te Sun)

審核日期

2018-7-18

推文