IMU Data Noise Cleansing for Vehicular Applications

• Main Authors: Yu-Feng Tsai, 蔡玉楓
• Other Authors: Min-Te Sun
• Format: Others
• Language: en_US
• Published: 2018
• Online Access: http://ndltd.ncl.edu.tw/handle/gy5cks

博士 === 國立中央大學 === 資訊工程學系 === 106 === 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.